Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee

Details Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee

2012-04-17

arxiv.org/abs/1204.3820v1

Computer Science

Systems and Control

Scientific paper

For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance into an arbitrary target formation, 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 online, confirm our theoretical developments.

Affiliated with

Also associated with

No associations

Rating

Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-290305