Distributed Feedback Optimisation for Robotic Coordination
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Date
2022
Publication Type
Conference Paper
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yes
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Abstract
Feedback optimisation is an emerging technique aimed at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove asymptotic convergence to the set of optimal configurations. To this scope, we show that exponential stability is needed only for the portion of the state that affects the objective function. This is showcased by driving a swarm of agents towards a target location while maintaining a target formation. Finally, we provide a sufficient condition on the topological structure of the specified formation to guarantee convergence of the swarm in formation around the target location.
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published
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2022 American Control Conference (ACC)
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Pages / Article No.
3710 - 3715
Publisher
IEEE
Event
2022 American Control Conference (ACC 2022)
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09478 - Dörfler, Florian / Dörfler, Florian