グラフ上の距離最適なフォーメーション制御と厳密な収束時間保証
Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee
連結グラフ上で衝突を避けながら複数のエージェントを目標頂点集合へ最短距離で移動させる高速アルゴリズムを提案し、収束時間の厳密な保証も与えた。
著者: Jingjin Yu, Steven M. LaValle
分類: eess.SY, cs.AI, cs.RO, cs.SY
原文アブストラクト
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into the desired formation. Moreover, we show that the algorithm also provides a tight convergence time guarantee (time optimality and distance optimality cannot be simultaneously satisfied). Our generic graph formulation allows the algorithm to be applied to scenarios such as grids with holes (modeling obstacles) in arbitrary dimensions. Simulations, available online, confirm our theoretical developments.
