期刊
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
卷 44, 期 5, 页码 1543-1574出版社
SIAM PUBLICATIONS
DOI: 10.1137/S0363012903428652
关键词
distributed dynamical systems; coordination and cooperative control; geometric optimization; disk-covering problem; sphere-packing problem; nonsmooth analysis; Voronoi partitions
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of distributed control laws that are related to nonsmooth gradient systems. The resulting dynamical systems promise to be of use in coordination problems for networked robots; in this setting the distributed control laws correspond to local interactions between the robots. The technical approach relies on concepts from computational geometry, nonsmooth analysis, and the dynamical system approach to algorithms.
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