Constrained Invariant Motions for Networked Multi-Agent Systems

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Title: Constrained Invariant Motions for Networked Multi-Agent Systems
Author: Franceschelli, Mauro ; Egerstedt, Magnus B. ; Giua, Alessandro ; Mahulea, Cristian
Abstract: In this paper we propose a methodology to solve the constrained consensus problem, i.e., the consensus problem for multi-agent systems with constrained dynamics. We propose a decentralized one-step horizon optimization problem to be solved iteratively by the agents to achieve rendezvous at the centroid of the network while ensuring the connectivity of the network and the feasibility of the agents motion respect to their constrained kinematics. We also provide simulations of the algorithm behavior.
Description: © 2009 AACC Digital Object Identifier : 10.1109/ACC.2009.5160191
Type: Proceedings
ISSN: 0743-1619
Citation: M. Franceschelli, M. Egerstedt, A. Giua, and C. Mahulea. Constrained Invariant Motions for Networked Multi-Agent Systems. American Control Conference. St. Louis, MO, USA, June 2009.
Date: 2009-06
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Università di Cagliari
Universidad de Zaragoza
Publisher: Georgia Institute of Technology
American Automatic Control Council
Subject: Constrained consensus problem
Multi-agent systems
Motion control

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