Leader-Based Multi-Agent Coordination Through Hybrid Optimal Control
Egerstedt, Magnus B.
Martin, Clyde F.
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The problem of optimally transferring a linear dynamical system between affine varieties arises in a number of applications such as path planning and robot coordination. In this paper, this problem, as well as generalizations to switched linear systems, is solved in the context of minimum energy control. In particular, we present a novel algorithm for obtaining the globally optimal solution through a combination of Hilbert space methods and dynamic programming. As a driving application, the problem of leader-based multi-agent coordination is considered, and we show how our proposed algorithm can be used for optimal coordination purposes.