Distributed Consensus on Enclosing Shapes and Minimum Time Rendezvous

Abstract

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 problem(i.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.

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Document Details

Document Type
Technical Report
Publication Date
Sep 06, 2006
Accession Number
AD1005735

Entities

People

  • Francesco Bullo
  • Giuseppe Notarstefano

Organizations

  • University of California, Santa Barbara

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Boundaries
  • Computations
  • Consensus Algorithms
  • Control Systems
  • Control Theory
  • Demographic Cohorts
  • Engineering
  • Numbers
  • Optimization
  • Personal Information Managers
  • Real Numbers
  • Rendezvous
  • Simulations
  • Topology
  • Transitions

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Operations Research
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control