Cooperative control of multi-vehicle systems using cost graphs and optimization
R.O. Saber, William B. Dunbar, Richard M. Murray · 2004
We introduce a class of triangulated graphs for algebraic representation of formations that allows one to specify a mission cost for a group of vehicles. This representation plus the navigational information allows one to formally specify and solve tracking problems for groups of vehicles in formations using an optimization-based approach. The approach is illustrated using a collection of six underactuated vehicles that track a desired trajectory in formation.