Semi-decentralized control of multi-agent systems based on redundant manipulator optimization methods
Nasser Sadati, Ehsan Elhamifar · 2006
In this paper, a new approach for online reactive path generation and control of multi-agent systems is proposed. This method is based on local optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of the agents' velocities to the desired values in the null-space of the primary task is guaranteed by introducing a new control law. The efficacy of the proposed algorithm is demonstrated through simulation experiments