Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups

Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups

We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions for continuous-time and discrete-time systems. We recast the optimal control problem as a constrained variation...

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Bibliographic Details
Main Authors: Efstratios Stratoglou, Alexandre Anahory Simoes, Leonardo J. Colombo
Format: Article
Language:English
Published: AIMS Press 2023-03-01
Series:Communications in Analysis and Mechanics
Subjects:
lagrangian systems
symmetry reduction
euler-poincaré equations
multi-agent control systems
lie-poisson integrators
Online Access:https://www.aimspress.com/article/doi/10.3934/cam.2023001?viewType=HTML

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https://www.aimspress.com/article/doi/10.3934/cam.2023001?viewType=HTML

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