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Optimal collision avoidance and formation switching on Riemannian manifolds
- SIAM J. on Control and Optimization
, 2001
"... In this paper 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. Reduction me ..."
Abstract
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Cited by 10 (6 self)
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In this paper 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. Reduction method is used to derive optimality conditions for the solutions. Some examples are presented. 1
