A Constrained Optimization Framework for Wireless Networking in Multi-Vehicle Applications

Demetri P. Spanos and Richard M. Murray
Submitted, 2004 American Control Conference (ACC)

This paper presents an optimization framework for broadcast power-control, specifically addressed at wireless networking issues arising in implementing information flows for multi-vehicle systems. We formulate an optimization problem for the minimization of an aggregate cost subject to a constraint on a quantity we call the geometric connection robustness, which is a locally computable numerical assessment of the robustness of the an information flow to perturbations in position. Our main result is a location-aided distributed power-control algorithm based on a gradient-like optimization scheme. We also use geometric connection robustness to develop a cheap distributed heuristic for the construction of sparse connected information flow.

• Conference Paper: http://www.cds.caltech.edu/~murray/preprints/sm04-acc s.pdf
• Project(s): Template:HTDB funding::AFOSR/info