Coordination and geometric optimization via distributed dynamical systems

被引：332

作者：

Cortés, J

Bullo, F

机构：

[1] Univ Calif Santa Cruz, Dept Appl Math & Stat, Santa Cruz, CA 95064 USA

[2] Univ Calif Santa Barbara, Dept Mech & Environm Engn, Santa Barbara, CA 93106 USA

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2005年 / 44卷 / 05期

关键词：

distributed dynamical systems; coordination and cooperative control; geometric optimization; disk-covering problem; sphere-packing problem; nonsmooth analysis; Voronoi partitions;

D O I：

10.1137/S0363012903428652

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of distributed control laws that are related to nonsmooth gradient systems. The resulting dynamical systems promise to be of use in coordination problems for networked robots; in this setting the distributed control laws correspond to local interactions between the robots. The technical approach relies on concepts from computational geometry, nonsmooth analysis, and the dynamical system approach to algorithms.

引用

页码：1543 / 1574

页数：32

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