Optimal Dynamic Formation Control of Multi-Agent Systems in Constrained EnvironmentsOctober 19, 2016 Track: General We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission space, we actually solve a mixed integer nonlinear optimization problem while in a concave mission, we propose a minimum-effort reconfiguration approach. Speaker(s)
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