Cooperative Control

Volume 309 of the series Lecture Notes in Control and Information Science pp 63-78


Optimization-Based Control of Multi-Vehicle Systems

  • Rafael FierroAffiliated withMarhes Laboratory, School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK 74078
  • , Kirk WesselowskiAffiliated withCenter for Information and Systems Engineering, Department of Manufacturing Engineering, Boston University, Boston, MA 02215

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There are many applications where a team of mobile robots may be more suitable than a single vehicle, especially where a distributed system of sensors is advantageous. For example, in search-and-rescue operations, deployment of many robots over an area can allow for more thorough and faster coverage. Yet without coordinating the movement of the agents, any advantage of multirobot deployment may be lost and damaging collisions or interference may occur.