论文标题
超越雷诺（Reynolds）：群集群的约束驱动方法
Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking
论文作者
论文摘要
在本文中，我们使用以生态启发的范例来介绍一套原始的羊群规则，以控制多机器人系统。我们将这些规则转化为一个约束驱动的最佳控制问题，在该问题中，代理将能耗最小化受安全和任务限制的影响。我们证明了有关最佳控制问题的可行空间的几种属性，并证明速度共识是最佳解决方案。我们还激励将松弛变量纳入约束驱动的问题时，只有每个代理人可以部分观察到全局状态。最后，我们分析了通信拓扑固定和连接的情况，并证明我们提出的羊群规则达到了速度共识。
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize energy consumption subject to safety and task constraints. We prove several properties about the feasible space of the optimal control problem and show that velocity consensus is an optimal solution. We also motivate the inclusion of slack variables in constraint-driven problems when the global state is only partially observable by each agent. Finally, we analyze the case where the communication topology is fixed and connected, and prove that our proposed flocking rules achieve velocity consensus.
