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Dear editor, In this letter,we use a distributed optimization approach to solve a class of multi-robot formation problem with virtual reference center.We investigate the design and analysis of the constrained consensus algorithm to solve the optimization problem with a sum of objective functions with some local constraints.In the multi-robot system with virtual reference center,each robot has messages on its own constraints and objective function,as well as the message about the formation that interacts with the virtual reference center.At the same time,all the robots collaborate to find the minimum value of the function defined by the formation.To find the optimal formation,we propose an algorithm with fixed step size with better performance.In addition,we use a combination of the Hungarian assignment algorithm and the proposed formation algorithm to get the optimal matching formation of the multi-robot system.
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篇名 Distributed Optimization Algorithm for Multi-Robot Formation with Virtual Reference Center
来源期刊 自动化学报(英文版) 学科
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年,卷(期) 2022,(4) 所属期刊栏目 LETTERS
研究方向 页码范围 732-734
页数 3页 分类号
字数 语种 英文
DOI 10.1109/JAS.2022.105473
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自动化学报(英文版)
双月刊
2329-9266
10-1193/TP
大16开
北京市海淀区中关村东路95号
80-604
2014
eng
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801
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