Distributed Feedback Optimisation for Robotic Coordination
- Resource Type
- Conference
- Authors
- Terpin, Antonio; Fricker, Sylvain; Perez, Michel; Hudoba de Badyn, Mathias; Dorfler, Florian
- Source
- 2022 American Control Conference (ACC) Control Conference (ACC), 2022 American. :3710-3715 Jun, 2022
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Sufficient conditions
Stability
Robot kinematics
Distributed feedback devices
Linear programming
Steady-state
Control theory
- Language
- ISSN
- 2378-5861
Feedback optimisation is an emerging technique aimed at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove asymptotic convergence to the set of optimal configurations. To this scope, we show that exponential stability is needed only for the portion of the state that affects the objective function. This is showcased by driving a swarm of agents towards a target location while maintaining a target formation. Finally, we provide a sufficient condition on the topological structure of the specified formation to guarantee convergence of the swarm in formation around the target location.