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From geometric optimization and nonsmooth analysis to distributed coordination algorithms
J. Cortés, F. Bullo
Proceedings of the 42nd IEEE Int. Conf. Decision and Control, Maui, Hawaii, USA, 2003, pp. 3274-3280

Abstract

We investigate the coordination of groups of autonomous robots performing spatially-distributed sensing tasks. We present facility location functions from geometric optimization and study their differentiable properties. We then design distributed coordination algorithms and analyze them as nonsmooth gradient flows. The resulting control laws correspond to basic interaction behaviors between the robots. The technical approach relies on concepts from computational geometry, nonsmooth analysis, and the dynamical system approach to algorithms.

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Mechanical and Aerospace Engineering, University of California, San Diego
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