Distance optimal formation control on graphs with a tight convergence time guarantee
Distance optimal formation control on graphs with a tight convergence time guarantee
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具有严格收敛时间保证的图上距离最优编队控制
DOI：
10.1109/cdc.2012.6426233
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
S. LaValle
中科院分区：
文献类型：
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作者：
Jingjin Yu;S. LaValle
对于移动一组不可区分的代理在一个连接的图形与单位边缘距离的任意一组目标顶点，无碰撞的任务，我们提出了一个快速的距离最优控制算法，引导代理到所需的形成。此外，我们表明，该算法还提供了一个紧收敛时间保证（时间最优性和距离最优性不能同时满足）。我们的通用图形配方允许该算法被应用到场景中，如网格与孔（建模障碍）在任意尺寸。模拟，可在线1，证实了我们的理论发展。
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into the desired formation. Moreover, we show that the algorithm also provides a tight convergence time guarantee (time optimality and distance optimality cannot be simultaneously satisfied). Our generic graph formulation allows the algorithm to be applied to scenarios such as grids with holes (modeling obstacles) in arbitrary dimensions. Simulations, available online1, confirm our theoretical developments.