Optimal Dynamic Formation Control of Multi-Agent Systems in Constrained Environments

October 19, 2016
2:00 pm - 5:30 pm
Hall C

Track: General
Type: Posters
Level: All

We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission space, we actually solve a mixed integer nonlinear optimization problem while in a concave mission, we propose a minimum-effort reconfiguration approach.


, PHD candidate, Boston University