Distributed optimal control based on internal average kinetic energy for multi-robot system

In this paper, an M-member continuous-time energetic swarm problem is studied. A new control strategy is developed for the multi-robot system which exist velocity damping. The control strategy has two separated layers. The lower layer is a distributed optimum control such that the swarm center can arrive at the goal which is given previously with the least time under present restrict. The upper layer is based on internal average kinetic energy. The proposed control algorithm can be used effectively for multi-robot coverage path planning problem. The proof of convergence is presented. Numerical simulations are given to illustrate the theoretic results.