Semi-decentralized control of multi-agent systems based on redundant manipulator optimization methods

In this paper, a new approach for online reactive path generation and control of multi-agent systems is proposed. This method is based on local optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of the agents´ velocities to the desired values in the null-space of the primary task is guaranteed by introducing a new control law. The efficacy of the proposed algorithm is demonstrated through simulation experiments