• DocumentCode
    2199026
  • Title

    Optimal collision avoidance and formation switching on Riemannian manifolds

  • Author

    Hu, Jianghai ; Sastry, Shankar

  • Author_Institution
    Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
  • Volume
    2
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    1071
  • Abstract
    The problems of optimal collision avoidance and optimal formation switching for multiple agents moving on a Riemannian manifold are studied. It is assumed that the underlying manifold admits a group of isometries, with respect to which the Lagrangian function is invariant. A reduction method is used to derive optimality conditions for the solutions. Some examples are presented
  • Keywords
    aircraft control; collision avoidance; graph theory; multi-agent systems; optimal control; robots; Lagrangian function; Riemannian manifolds; formation switching; isometries; multiple agents; optimal collision avoidance; optimality conditions; reduction method; Aircraft; Collision avoidance; Costs; Joining processes; Lagrangian functions; Mobile robots; State-space methods;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
  • Conference_Location
    Orlando, FL
  • Print_ISBN
    0-7803-7061-9
  • Type

    conf

  • DOI
    10.1109/.2001.981027
  • Filename
    981027
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2199026