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تسجيل مستخدم جديدA Decentralized Control Framework for Energy-Optimal Goal Assignment and Trajectory Generation
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This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information. The assignment results are then used to generate energy-optimal trajectories for each agent which have guaranteed collision avoidance through safety constraints. We present the conditions for optimality and discuss the robustness of the solution. The efficacy of the proposed approach is validated through a numerical case study to characterize the frameworks performance on a set of dynamic goals.
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In this paper, we propose an approach for solving an energy-optimal goal assignment problem to generate the desired formation in multi-agent systems. Each agent solves a decentralized optimization problem with only local information about its neighbo
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