A semidefinite programming framework for controlling multi-robot systems in dynamic environments
A semidefinite programming framework for controlling multi-robot systems in dynamic environments
复制标题
用于控制动态环境中多机器人系统的半定编程框架
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
J. Derenick;J. Spletzer;Vijay R. Kumar
在本文中，一个离散时间，半定规划（SDP）框架综合控制移动的机器人团队在动态环境中运行。给定一个初始可行的配置，所提供的框架嵌入编队形状控制，并保证智能体间和智能体-障碍物碰撞避免和网络互连的整个编队给定一个足够小的Δt -提供了一个可行的解决方案存在。此外，它提供了目标导向的行为，这是探讨，最值得注意的是，在其应用程序的定向覆盖控制，其中的目标是确保一组移动的目标正在观察的团队中的至少一个成员在任何给定的时间。我们制定的核心是融合最近的应用形状理论的结构，以全局最优的形状规划与状态相关的图形，其强制连接（通过其菲德勒值衡量）意味着满足上述约束。仿真结果突出了我们的方法的效用。
In this paper, a discrete-time, semidefinite programming (SDP) framework is synthesized for controlling mobile robot teams operating in dynamic environments. Given an initially feasible configuration, the proffered framework embeds formation shape control and guarantees inter-agent and agent-obstacle collision avoidance and network interconnectivity across the formation given a sufficiently small Δt - provided that a feasible solution exists. Additionally, it affords goal-directed behaviors, which are explored, most notably, in terms of its application to directional coverage control, where the objective is to ensure that a set of mobile targets are being observed by at least a single member of the team at any given time. Central to our formulation is melding the recent application of shape theoretic constructs to globally optimal shape planning with state-dependent graphs whose enforced connectivity (gauged via their Fiedler value) implies satisfaction of the aforementioned constraints. Simulation results are presented to highlight the utility of our approach.