Distributed Optimization Algorithm for Multi-Robot Formation with Virtual Reference Center

• Published in: IEEE/CAA journal of automatica sinica Vol. 9; no. 4; pp. 732 - 734
• Main Authors: Huang, Jingyi, Zhou, Shuaiyu, Tu, Hua, Yao, Yuhong, Liu, Qingshan
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.04.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); School of Mathematics,Southeast University,Nanjing 210096,China%School of Mathematics,Southeast University,Jiangsu Provincial Key Laboratory of Networked Collective Intelligence,Nanjing 210096,China
• Subjects: Algorithms; Constraints; Multiple robots; Optimization; Robots

In this letter, we use a distributed optimization approach to solve a class of multi-robot formation problem with virtual reference center. We investigate the design and analysis of the constrained consensus algorithm to solve the optimization problem with a sum of objective functions with some loca...