Abstract:This paper presents a distributed framework to develop planning algorithms for optimal reconfiguration of multiagent systems in the presence of collision avoidance and final configuration constraints. First, reconfiguration problems are formulated as optimal control problems which are addressed using direct methods. Thus, reconfiguration problems become nonlinear programming problems subject to coupling variables, i.e., final configuration constraints, and coupling constraints, i.e., collision avoidance constr… Show more
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