Distributed coordination of a formation of heterogeneous agents with individual regrets and asynchronous communications

@article{Carlsi2012DistributedCO,
  title={Distributed coordination of a formation of heterogeneous agents with individual regrets and asynchronous communications},
  author={Nicolas Carl{\'e}si and Pascal Bianchi},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={3504-3511}
}
We consider a flotilla composed of N autonomous mobile agents. Each agent ignores its absolute position but collects noisy measurements of the relative position of other agents. It has a convex utility function which depends on its control variables and on some global variables, typically, the average motion of all agents during a unit of time. The utility function of an agent is unknown by other agents. The aim is to determine the control variables which minimize the sum of all utility… CONTINUE READING

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