Coordination and Geometric Optimization via Distributed Dynamical Systems 论文

详细信息

发表期刊/会议

SIAM Journal on Control and Optimization

发表日期

2005-01-01

发表年份

2005

摘要

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. (A correction to this article has been appended to the pdf file.)