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
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;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981027
