Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game
Fuente:
arXiv
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| Autore principale: | |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866911818560045056 |
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| author | Beaver, Logan |
| author_facet | Beaver, Logan |
| contents | This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demonstrate that an energy-optimal trajectory can be generated in milliseconds if the sequence of constraint activations is known a priori. Thus, rather than selecting an infinite-dimensional action from a function space, the agents select their actions from a finite number of constraints and determine the time that each becomes active. Furthermore, the agents can exactly encode their trajectory in a set of real numbers, rather than communicating their control action as an infinite-dimensional function. We demonstrate the performance of this algorithm in simulation and find an optimal trajectory in 45 milliseconds on a tablet PC. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_19641 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game Beaver, Logan Optimization and Control This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demonstrate that an energy-optimal trajectory can be generated in milliseconds if the sequence of constraint activations is known a priori. Thus, rather than selecting an infinite-dimensional action from a function space, the agents select their actions from a finite number of constraints and determine the time that each becomes active. Furthermore, the agents can exactly encode their trajectory in a set of real numbers, rather than communicating their control action as an infinite-dimensional function. We demonstrate the performance of this algorithm in simulation and find an optimal trajectory in 45 milliseconds on a tablet PC. |
| title | Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2403.19641 |