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• W3118307462 abstract "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." @default.
• W3118307462 created "2021-01-18" @default.
• W3118307462 creator A5029688486 @default.
• W3118307462 creator A5076592878 @default.
• W3118307462 date "2020-12-14" @default.
• W3118307462 modified "2023-09-25" @default.
• W3118307462 title "Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking" @default.
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• W3118307462 doi "https://doi.org/10.1109/cdc42340.2020.9304333" @default.
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