Optimal dynamic formation control of multi-agent systems in environments with obstacles

We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission space, the connectivity constraints can be satisfied by any feasible solution to a mixed integer nonlinear optimization problem. When the optimal formation objective is to maximize coverage in a mission space cluttered with obstacles, we separate the process into intervals with no obstacles detected and intervals where one or more obstacles are detected. In the latter case, we propose a minimum-effort reconfiguration approach for the formation which still optimizes the objective function while avoiding the obstacles and ensuring connectivity. We include simulation results illustrating this dynamic formation process.

• Publication year

  2015

• Venue

  IEEE Conference on Decision and Control

• Publication date

  2015-08-19

• Fields of study

  Mathematics, Computer Science, Engineering

• Identifiers
  DOI 10.1109/CDC.2015.7402560arXiv 1508.04727
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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