2015/08/19 by Xinmiao Sun, Sun, Xinmiao, Christos G. Cassandras +1 · 1 citation
Computer Science · #Distributed Control Multi-Agent Systems #FOS: Mathematics #Mobile Ad Hoc Networks #Opportunistic and Delay-Tolerant Networks #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.1508.04727
openalex publication_date 2015/08/19 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission space, the connectivity constraints can be satisfied by any feasible solution to a mixed integer nonlinear optimization problem. When the optimal formation objective is to maximize coverage in a mission space cluttered with obstacles, we separate the process into intervals with no obstacles detected and intervals where one or more obstacles are detected. In the latter case, we propose a minimum-effort reconfiguration approach for the formation which still optimizes the objective function while avoiding the obstacles and ensuring connectivity. We include simulation results illustrating this dynamic formation process.