TY - GEN
T1 - Probabilistic swarm guidance using optimal transport
AU - Bandyopadhyay, Saptarshi
AU - Chung, Soon Jo
AU - Hadaegh, Fred Y.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/9
Y1 - 2014/12/9
N2 - Probabilistic swarm guidance enables autonomous agents to generate their individual trajectories independently so that the entire swarm converges to the desired distribution shape. In contrast with previous homogeneous or inhomogeneous Markov chain based approaches [1], this paper presents an optimal transport based approach which guarantees faster convergence, minimizes a given cost function, and reduces the number of transitions for achieving the desired formation. Each agent first estimates the current swarm distribution by communicating with neighboring agents and using a consensus algorithm and then solves the optimal transport problem, which is recast as a linear program, to determine its transition probabilities. We discuss methods for handling motion constraints and also demonstrate the superior performance of the proposed algorithm by numerically comparing it with existing Markov chain based strategies.
AB - Probabilistic swarm guidance enables autonomous agents to generate their individual trajectories independently so that the entire swarm converges to the desired distribution shape. In contrast with previous homogeneous or inhomogeneous Markov chain based approaches [1], this paper presents an optimal transport based approach which guarantees faster convergence, minimizes a given cost function, and reduces the number of transitions for achieving the desired formation. Each agent first estimates the current swarm distribution by communicating with neighboring agents and using a consensus algorithm and then solves the optimal transport problem, which is recast as a linear program, to determine its transition probabilities. We discuss methods for handling motion constraints and also demonstrate the superior performance of the proposed algorithm by numerically comparing it with existing Markov chain based strategies.
UR - http://www.scopus.com/inward/record.url?scp=84920517780&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2014.6981395
DO - 10.1109/CCA.2014.6981395
M3 - Conference contribution
AN - SCOPUS:84920517780
T3 - 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
SP - 498
EP - 505
BT - 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE Conference on Control Applications, CCA 2014
Y2 - 8 October 2014 through 10 October 2014
ER -