摘要: This thesis considers the coordinated control of autonomous agents. The agents are modeled as double integrators, one for each Cartesian dimension. goal is to force converge a formation specified by their desired relative positions. To this end pair one-step-ahead optimization based laws developed. algorithms produce communication topology that mirrors geometric due careful choice minimized cost functions. Through equivalence natural understanding relationship between and infrastructure gained. It shown stable guarantee convergence all viable topologies. Additionally, velocity constraints can be added allow follow fixed or arbitrary time dependent velocities. Both only require local information exchange. As additional attach formation, those share position with joining need adjust laws. When redundancy incorporated into topology, it possible system survive loss channels. In event an agent drops out interdependence on lost Finally, if channel lost, must first law falls category distributed control, since requires either global exchange compute size priori knowledge largest formation. algorithm uses network penalize input using knowledge, not adds robustness
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