Distributed Consensus on Enclosing Shapes and Minimum Time Rendezvous
Journal Article - Open Access
University of California at Santa Barbara Santa Barbara United States
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In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a network of first order agents with bounded inputs and limited range communication. We propose two dynamic control and communication laws. These laws are based on consensus algorithms for distributed computation of the minimal enclosing ball and orthotope of a set of points. We prove that these control laws converge to the optimal solution of the centralized problemi.e., when no communication constrains are enforced as the bound on the control input goes to zero. Moreover, we give abound for the time complexity of one of the two laws.
- Numerical Mathematics