TY - GEN
T1 - Decentralized control for optimizing communication with infeasible regions
AU - Gil, Stephanie
AU - Prentice, Samuel
AU - Roy, Nicholas
AU - Rus, Daniela
N1 - Funding Information:
The authors acknowledge the MAST Project under ARL Grant W911NF-08-2-0004, the SMART Future Urban Mobility Project, and the NSFGRFP.
Publisher Copyright:
© Springer International Publishing Switzerland 2017.
PY - 2017
Y1 - 2017
N2 - In this paper we present a decentralized gradient-based controller that optimizes communication between mobile aerial vehicles and stationary ground sensor vehicles in an environment with infeasible regions. The formulation of our problem as a MIQP is easily implementable, and we show that the addition of a scaling matrix can improve the range of attainable converged solutions by influencing trajectories to move around infeasible regions. We demonstrate the robustness of the controller in 3D simulation with agent failure, and in 10 trials of a multi-agent hardware experiment with quadrotors and ground sensors in an indoor environment. Lastly, we provide analytical guarantees that our controller strictly minimizes a nonconvex cost along agent trajectories, a desirable property for general multi-agent coordination tasks.
AB - In this paper we present a decentralized gradient-based controller that optimizes communication between mobile aerial vehicles and stationary ground sensor vehicles in an environment with infeasible regions. The formulation of our problem as a MIQP is easily implementable, and we show that the addition of a scaling matrix can improve the range of attainable converged solutions by influencing trajectories to move around infeasible regions. We demonstrate the robustness of the controller in 3D simulation with agent failure, and in 10 trials of a multi-agent hardware experiment with quadrotors and ground sensors in an indoor environment. Lastly, we provide analytical guarantees that our controller strictly minimizes a nonconvex cost along agent trajectories, a desirable property for general multi-agent coordination tasks.
UR - http://www.scopus.com/inward/record.url?scp=84984820193&partnerID=8YFLogxK
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U2 - 10.1007/978-3-319-29363-9_21
DO - 10.1007/978-3-319-29363-9_21
M3 - Conference contribution
AN - SCOPUS:84984820193
SN - 9783319293622
T3 - Springer Tracts in Advanced Robotics
SP - 363
EP - 381
BT - Robotics Research - The 15th International Symposium ISRR
A2 - Christensen, Henrik I.
A2 - Khatib, Oussama
PB - Springer Verlag
T2 - 15th International Symposium of Robotics Research, 2011
Y2 - 9 December 2011 through 12 December 2011
ER -