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Dušan M. Stipanović | Zendy; Christopher G. Valicka | Zendy; Claire J. Tomlin | Zendy; Thomas Bewley | Zendy

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Author(s) -

Dušan M. Stipanović,

Christopher G. Valicka,

Claire J. Tomlin,

Thomas Bewley

Publication year - 2013

Publication title -

numerical algebra control and optimization

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 20

eISSN - 2155-3289

pISSN - 2155-3297

DOI - 10.3934/naco.2013.3.31

Subject(s) - control (management) , computer science , domain (mathematical analysis) , nonlinear system , mathematical optimization , mathematics , artificial intelligence , mathematical analysis , physics , quantum mechanics

In this paper we consider a problem of designing control laws for multiple mobile agents trying to accomplish three objectives. One of the objectives is to sense a given compact domain while satisfying the other objective which is to avoid collisions between the agents themselves as well as with the obstacles. To keep the communication links between the agents reliable, the agents need to stay relatively close during the sensing operation which is the third and final objective. The design of control laws is based on carefully constructed objective functions and on an assumption that the agents' dynamic models are nonlinear yet affine in control laws. As an illustration of some performance characteristics of the proposed control laws, a numerical example is provided.

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