NDLI: Distributed planning of optimal reconfiguration with collision avoidance and final configuration constraints

Content Provider	IEEE Xplore Digital Library
Author	Guo, Juan Chu, Jing Yan, Jie
Copyright Year	2015
Description	Author affiliation: School of Astronautics, Northwestern Polytechnical University, 710072 Xi'an, China (Guo, Juan; Yan, Jie) \|\| Faculty of Aerospace Engineering, Delft University of Technology, 2629HS, The Netherlands (Chu, Jing)
Abstract	This paper presents a distributed framework to develop planning algorithms for optimal reconfiguration of multiagent systems in the presence of collision avoidance and final configuration constraints. First, reconfiguration problems are formulated as optimal control problems which are addressed using direct methods. Thus, reconfiguration problems become nonlinear programming problems subject to coupling variables, i.e., final configuration constraints, and coupling constraints, i.e., collision avoidance constraints. In our framework subgradient methods are adopted to include reconfiguration cases with non-differentiable objectives. Then, to develop distributed algorithms, final configuration constraints are tackled by primal decomposition, while collision avoidance constraints by dual decomposition. Since standard decomposition methods prevent the distributed implementation due to the existence of master problems, primal decomposition is combined with the distributed consensus algorithm and dual decomposition is integrated with the incremental subgradient method. In the end, this framework is employed to develop distributed planning algorithms for optimal reconfiguration of satellite clusters.
Starting Page	1951
Ending Page	1957
File Size	247207
Page Count	7
File Format	PDF
e-ISBN	9781479978861
DOI	10.1109/CDC.2015.7402493
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Couplings Planning Optimal control Clustering algorithms Optimization Distributed algorithms
Content Type	Text
Resource Type	Article

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