Decentralised and Cooperative Control of Multi-Robot Systems through Distributed Optimisation

Dong, Y ORCID: 0000-0003-3047-7777, Li, Z, Zhao, X ORCID: 0000-0002-3474-349X, Ding, Z and Huang, X ORCID: 0000-0001-6267-0366 (2023) Decentralised and Cooperative Control of Multi-Robot Systems through Distributed Optimisation In: The 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS).

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Abstract

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear dynamics. The algorithm is based on distributed cooperative optimisation and output regulation, and it achieves global optimum by utilising only information shared among neighbouring robots. Technically, a high-level distributed optimisation algorithm for multi-robot systems is presented, which will serve as an optimal reference generator for each individual agent. Then, based on the distributed optimisation algorithm, an output regulation method is utilised to solve the optimal coordination problem for general linear dynamic systems. The convergence of the proposed algorithm is theoretically proved. Both numerical simulations and real-time physical robot experiments are conducted to validate the effectiveness of the proposed cooperative control algorithms.

Item Type:	Conference Item (Unspecified)
Divisions:	Faculty of Science & Engineering > School of Electrical Engineering, Electronics and Computer Science
Depositing User:	Symplectic Admin
Date Deposited:	30 Jan 2023 10:31
Last Modified:	13 Jun 2025 21:29
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3167945
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