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- Title
Stochastic optimal enhancement of distributed formation control using Kalman smoothers.
- Authors
Anderson, Ross P.; Milutinović, Dejan
- Abstract
Beginning with a deterministic distributed feedback control for nonholonomic vehicle formations, we develop a stochastic optimal control approach for agents to enhance their non-optimal controls with additive correction terms based on the Hamilton–Jacobi–Bellman equation, making them optimal and robust to uncertainties. In order to avoid discretization of the high-dimensional cost-to-go function, we exploit the stochasticity of the distributed nature of the problem to develop an equivalent Kalman smoothing problem in a continuous state space using a path integral representation. Our approach is illustrated by numerical examples in which agents achieve a formation with their neighbors using only local observations.
- Subjects
ROBOT control systems; ROBOT motion; MOBILE robots; STOCHASTIC control theory; HAMILTON-Jacobi-Bellman equation; PATH integrals; KALMAN filtering; FEEDBACK control systems
- Publication
Robotica, 2014, Vol 32, Issue 2, p305
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574714000022