Optimal Formation Switching with Collision Avoidance and Allowing Variable Agent Velocities

摘要: We address the problem of dynamically switching geometry a formation number undistinguishable agents. Given current and final desired geometries, there are several possible allocations between initial positions agents as well combinations for each agent velocity. However, not all interest since collision avoidance is enforced. Collision guaranteed through an appropriate choice paths velocities. Therefore, given set velocities positions, we wish to find their traveling such that trajectories apart, by specified value, at times. Among possibilities interested in choosing one minimizes predefined performance criteria, e.g. maximum time required reach geometry. propose here dynamic programming approach solve optimally problems.