Multiagent Task Coordination Using a Distributed Optimization Approach.

摘要

In this project, several fundamental research topics have been carried out for developing multiagent task coordination strategies under a distributed optimization framework. The proposed subjects are critical to the development of engineered multiagent systems such as robotic networks, sensor networks, and computer networks, and they are import ant to both military and civilian applications. The objectives of the proposed research are three - folds: perform systematic controllability analysis for multiagent networks which may have nonlinear dynamics, design distributed optimal and adaptive coordination protocols in the presence of various model and communication uncertainties, and conduct computer simulation and experimental validation of the proposed designs using mobile robotic platforms. The project renders novel methods for discontinuous cooperative control under least restrictive sensing/communications and communication delays, approximate dynamic programming based optimal cooperative control, adaptive cooperative control of uncertain multiagent systems, and distributed formation control and coverage controls of multiple mobile robots with kinematic constraints.