Optimal cooperative tracking and flocking of multi-agent systems
Abstract
In this chapter, we will address two direct applications of the previous results in last chapter, which are rendezvous and flocking control with obstacle avoidance by adding specific terms (tracking or cohesion potentials). An extension to the cooperative tracking problem with obstacle avoidance will be given, where a group of networked agents are required to reach a desired reference trajectory simultaneously. A new obstacle avoidance penalty function is proposed for the agents. Besides, a unified optimal control approach is proposed to design the flocking algorithm such that all the characteristics of the flocking problem, velocity alignment, cohesion, navigation, and ...
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