Forced Variational Integrators for the Formation Control of Multiagent Systems

@article{Colombo2021ForcedVI,
  title={Forced Variational Integrators for the Formation Control of Multiagent Systems},
  author={Leonardo Jesus Colombo and H{\'e}ctor Garc{\'i}a de Marina},
  journal={IEEE Transactions on Control of Network Systems},
  year={2021},
  volume={8},
  pages={1336-1347}
}
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this article, we construct and implement forced variational integrators for the formation control of autonomous agents modeled by double integrators. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions. We find error estimations for the rate of… 

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Variational integrators for non-autonomous systems with applications to stabilization of multi-agent formations
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. Variational integrators are an important class

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