Journal of Intelligent and Robotic Systems
The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case
SIAM Journal on Control and Optimization
Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles
Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles
Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications
Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Journal of Intelligent and Robotic Systems
Rendezvous-Guidance Trajectory Planning for Robotic Dynamic Obstacle Avoidance and Interception
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper presents a unified distributed optimal control approach for multiple autonomous robots' cooperative tracking as well as obstacle avoidance. An inverse optimal control strategy is employed to design cost functions such that three cooperative control objectives including cooperative tracking, obstacle avoidance, and control effort minimization, can be addressed in one optimal control design process. The optimal control law of each robot can be obtained in a closed-form and only depends on the local information from the neighbors, rather than all robots' information. Three simulation scenarios, rendezvous to a pre-specified point, tracking a straight line reference with a constant velocity, and tracking a circular trajectory, demonstrate the desired cooperative tracking behaviors as well as obstacle avoidance capability.