Publications [#358380] of Silvia Ferrari
Papers Published
- Zhu, P; Liu, C; Ferrari, S, Adaptive Online Distributed Optimal Control of Very-Large-Scale Robotic Systems,
Ieee Transactions on Control of Network Systems
(January, 2021) [doi]
(last updated on 2021/09/05)Abstract:
Autonomous systems comprised of many cooperative agents have the potential for enabling long-duration tasks and data collection critical to the understanding of a wide range of phenomena in spatially and temporally variable environments. The adaptive distributed optimal control approach presented in this paper extends online approximate dynamic programming (ADP) to very-large-scale robotics (VLSR) systems that must operate and adapt to highly uncertain and variable environments. Optimal mass transport theory is used to show that, in the Wasserstein-Gaussian Mixture Model (GMM) space, the VLSR systems cost-to-go can be represented by a value functional of the robot distribution and dynamic environmental maps. The approach is demonstrated on a cooperative path planning problem in which knowledge of the obstacles in the environment changes incrementally over time based on in-situ measurements. Numerical simulations show that the proposed approach significantly outperforms existing methods by finding an approximately optimal solution that avoids obstacles and meets a desired final robot distribution using minimum energy.