Time-Varying Formation of Heterogeneous Multiagent Systems via Reinforcement Learning Subject to Switching Topologies

• Published in: IEEE transactions on circuits and systems. I, Regular papers Vol. 70; no. 6; pp. 2550 - 2560
• Main Authors: Liu, Deyuan, Liu, Hao, Lu, Jinhu, Lewis, Frank L.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: air-ground coordination; Dynamic models; Heterogeneous vehicles; Multiagent systems; Optimal control; Quadrotors; Reinforcement learning; Rotary wing aircraft; Switches; Switching; time-varying formation control; Time-varying systems; Topology; Tracking control; Vehicle dynamics

This paper investigates the optimal formation control of a heterogeneous multiagent system consisting of multiple quadrotors and ground vehicles via reinforcement learning to achieve the time-varying formation under switching topologies. A distributed observer is firstly constructed to generate refe...