Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming

Author:

Morgan Daniel1,Subramanian Giri P1,Chung Soon-Jo1,Hadaegh Fred Y2

Affiliation:

1. University of Illinois at Urbana-Champaign, USA

2. Jet Propulsion Laboratory, California Institute of Technology, USA

Abstract

This paper presents a distributed, guidance and control algorithm for reconfiguring swarms composed of hundreds to thousands of agents with limited communication and computation capabilities. This algorithm solves both the optimal assignment and collision-free trajectory generation for robotic swarms, in an integrated manner, when given the desired shape of the swarm (without pre-assigned terminal positions). The optimal assignment problem is solved using a distributed auction assignment that can vary the number of target positions in the assignment, and the collision-free trajectories are generated using sequential convex programming. Finally, model predictive control is used to solve the assignment and trajectory generation in real time using a receding horizon. The model predictive control formulation uses current state measurements to resolve for the optimal assignment and trajectory. The implementation of the distributed auction algorithm and sequential convex programming using model predictive control produces the swarm assignment and trajectory optimization (SATO) algorithm that transfers a swarm of robots or vehicles to a desired shape in a distributed fashion. Once the desired shape is uploaded to the swarm, the algorithm determines where each robot goes and how it should get there in a fuel-efficient, collision-free manner. Results of flight experiments using multiple quadcopters show the effectiveness of the proposed SATO algorithm.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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