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• W3202352243 abstract "Feedback optimisation is an emerging technique aimed at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove asymptotic convergence to the set of optimal configurations. To this scope, we show that exponential stability is needed only for the portion of the state that affects the objective function. This is showcased by driving a swarm of agents towards a target location while maintaining a target formation. Finally, we provide a sufficient condition on the topological structure of the specified formation to guarantee convergence of the swarm in formation around the target location." @default.
• W3202352243 created "2021-10-11" @default.
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• W3202352243 date "2022-06-08" @default.
• W3202352243 modified "2023-10-18" @default.
• W3202352243 title "Distributed Feedback Optimisation for Robotic Coordination" @default.
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• W3202352243 doi "https://doi.org/10.23919/acc53348.2022.9867738" @default.
• W3202352243 hasPublicationYear "2022" @default.
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