论文标题
代理的能量最佳运动计划：Barycentric运动和碰撞避免限制
Energy-Optimal Motion Planning for Agents: Barycentric Motion and Collision Avoidance Constraints
论文作者
论文摘要
随着机器人群体的出现，为能源消耗和安全性提供强大的保证以最大程度地提高系统性能是越来越重要的。实现这些保证的一种方法是通过约束驱动的控制，在这种控制下，代理试图最大程度地减少受一系列安全性和任务限制的约束。在本文中，我们为具有积分器动力学的能量最小化的代理提供了足够和必要的条件，以在不受约束的轨迹和受约束轨迹之间的过渡时具有连续的控制输入。此外，我们提出和分析用于群体控制群体控制的barycentric运动和碰撞避免约束。
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where agents seek to minimize energy consumption subject to a set of safety and task constraints. In this paper, we provide a sufficient and necessary condition for an energy-minimizing agent with integrator dynamics to have a continuous control input at the transition between unconstrained and constrained trajectories. In addition, we present and analyze barycentric motion and collision avoidance constraints to be used in constraint-driven control of swarms.
