Coordination and Geometric Optimization via Distributed Dynamical Systems

Jorge Cortés, Francesco Bullo
2005 SIAM Journal of Control and Optimization  
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
more » ... the robots. The technical approach relies on concepts from computational geometry, nonsmooth analysis, and the dynamical system approach to algorithms.
doi:10.1137/s0363012903428652 fatcat:54lohpw4ynh5xdenldqte6pclm