Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization
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Reza Olfati-Saber, William B. Dunbar, Richard M. Murray
2003 American Control Conference
We introduce a class of triangulated graphs for algebraic representation
of formations that allows us to specify a mission cost for a group of vehicles. This representation plus the navigational information allows us to formally specify and solve tracking problems for groups of vehicles in formations using an optimization-based approach. The approach is illustrated using a collection of six underactuated vehicles that track a desired trajectory in formation.
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