Optimal collision avoidance and formation switching on Riemannian manifolds (2001)
by
Jianghai Hu
,
Shankar Sastry
| Venue: | SIAM J. on Control and Optimization |
| Citations: | 10 - 6 self |
BibTeX
@INPROCEEDINGS{Hu01optimalcollision,
author = {Jianghai Hu and Shankar Sastry},
title = {Optimal collision avoidance and formation switching on Riemannian manifolds},
booktitle = {SIAM J. on Control and Optimization},
year = {2001},
pages = {1071--1076}
}
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Abstract
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
Citations
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| 1 | Feasible formations of multi-agent systems,” preprint - Tabuada, Pappas, et al. |
