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Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization
Abstract We introduce a class of triangulated graph …
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.<br />
sired trajectory in formation.<br />  +
Authors Reza Olfati-Saber, William B. Dunbar, Richard M. Murray  +
ID 2002p  +
Source 2003 American Control Conference  +
Tag odm03-acc  +
Title Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:18:54  +
URL
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http://www.cds.caltech.edu/~murray/preprints/odm03-acc.pdf  +
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Cooperative Control of Multi-Vehicle Systems using Cost Graphs and Optimization + Title
 

 

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