View source for Polyhedral Cone Invariance Applied to Rendezvous of Multiple Agents

{{HTDB paper
| authors = Abhishek Tiwari, Jimmy Fung, Raktim Bhattacharya, Richard M. Murray
| title = Polyhedral Cone Invariance Applied to Rendezvous of Multiple Agents
| source = Submitted, 2004 Conference on Decision and Control (CDC)
| year = 2004
| type = Conference Paper
| funding = AFRL/DCAT
| url = http://www.cds.caltech.edu/~murray/preprints/tfbm04-cdc.pdf
| abstract = 
In this paper, we pose the N-scalar agent rendezvous
as a polyhedral cone invariance problem in the N
dimensional phase space. The underlying dynamics of the
agents are assumed to be linear. We derive a condition
for positive invariance for polyhedral cones. Based on this
condition, we demonstrate that the problem of determining a
certificate for rendezvous can be stated as a convex feasibility
problem. Under certain rendezvous requirements, we show
that there are no robust closed-loop linear solutions that satisfy
the invariance conditions. We show that the treatment of the
rendezvous problem on the phase plane can be extended to
the case where agent dynamics are non-scalar.
| flags = 
| tag = tfbm04-cdc
| id = 2004n
}}