Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization

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Reza Olfati-Saber, William B. Dunbar, Richard M. Murray
2003 American Control Conference

We introduce a class of triangulated graphs for algebraic representation

 of formations that allows us to specify a mission cost for a group of vehicles. 
 This representation plus the navigational information allows us to formally 
 specify and solve tracking problems for groups of vehicles in formations using 
 an optimization-based approach. The approach is illustrated using a collection 
 of six underactuated vehicles that track a desired trajectory in formation.
  • Conference
 Paper: http://www.cds.caltech.edu/~murray/preprints/odm03-acc.pdf