Distributed velocity optimization of time-varying functions with flocking behavior
YANG Zheng-quan
ZHANG Qing
CHEN Zeng-qiang
Abstract：This paper studies optimization problem for continuous-time multi-agent systems with flocking behavior.Multi-agents with second-order dynamics are considered.Each agent is equipped with a local time-varying cost function which is known only to an individual agent.The objective is to make multi-agents'velocities minimize the sum of local functions by local interaction,while avoiding collision and preserving connectivity.A distributed protocol with flocking behavior is presented,in which each agent depends only on its own velocity and neighbor's velocities.It can be proved that under the control protocol,all agents remain connected and avoid collisions while the velocity of the agents tracks the optimal velocity.
Keywords：distributed optimizationflockingmulti-agent systemsconnectivity-preserving
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 1648-1653 )