Journal article
Scalable Optimal Motion Planning for Multi-Agent Systems by Cosserat Theory of Rods
IEEE control systems letters, Vol.8, pp.1391-1396
2024
DOI: 10.1109/LCSYS.2024.3412881
Abstract
We address the motion planning problem for large multi-agent systems, utilizing Cosserat rod theory to model the dynamic behavior of vehicle formations. The problem is formulated as an optimal control problem over partial differential equations (PDEs) that describe the system as a continuum. This approach ensures scalability with respect to the number of vehicles, as the problem’s complexity remains unaffected by the size of the formation. The numerical discretization of the governing equations and problem’s constraints is achieved through Bernstein surface polynomials, facilitating the conversion of the optimal control problem into a nonlinear programming (NLP) problem. This NLP problem is subsequently solved using off-the-shelf optimization software. We present several properties and algorithms related to Bernstein surface polynomials to support the selection of this methodology. Numerical demonstrations underscore the efficacy of this mathematical framework.
Details
- Title: Subtitle
- Scalable Optimal Motion Planning for Multi-Agent Systems by Cosserat Theory of Rods
- Creators
- Amirreza Fahim Golestaneh - University of Iowa, IIHR--Hydroscience and EngineeringMaxwell Hammond - University of IowaVenanzio Cichella - University of Iowa
- Resource Type
- Journal article
- Publication Details
- IEEE control systems letters, Vol.8, pp.1391-1396
- DOI
- 10.1109/LCSYS.2024.3412881
- ISSN
- 2475-1456
- eISSN
- 2475-1456
- Language
- English
- Electronic publication date
- 06/11/2024
- Date published
- 2024
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984643657802771
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