Distributed-Infrastructure Multi-Robot Routing using a Helmholtz-Hodge Decomposition

被引：0
|
作者：
Kingston, Peter [1 ]
Egerstedt, Magnus [1 ]
机构：
[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA
来源：
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Using graphs and simplicial complexes as models for an environment containing a large number of agents, we provide distributed algorithms based on the Helmholtz-Hodge decomposition that, given desired flow rates on edges or across faces, produce incompressible approximations to the specified flows. These flows are then "lifted" to produce hybrid controllers for the agents, and a related algorithm is described that computes continuous streamfunctions over the environment, also in a distributed way.
引用
收藏
页码：5281 / 5286
页数：6
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