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We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a nonconvex environment. To handle arbitrary nonconvex environments, we represent them as graphs. Our partitioning and coverage algorithm requires only short-range, unreliable pairwise “gossip” communication. The algorithm has two components: 1) a motion protocol to ensure that neighboring...
We regard a network of coupled nonlinear dynamical systems that we want to control optimally. The cost function is assumed to be separable and convex. The algorithm we propose to address the numerical solution of this problem is based on two ingredients: first, we exploit the convex problem structure using a sequential convex programming framework that linearizes the nonlinear dynamics in each iteration...
This paper presents a new differential dynamic programming (DDP) algorithm for solving constrained optimal control problems. The basic idea is to relax all constraints but the system dynamics by using the multiplier method. For a given set of multipliers, there is an unconstrained dynamic optimization problem to which DDP applies effectively. The optimal solution is obtained by iteratively updating...
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