Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and model predictive control

Daniel Morgan, Soon Jo Chung, Fred Y. Hadaegh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a distributed, guidance and control algorithm for reconfiguring swarms composed of hundreds to thousands of agents with limited communication and computation capabilities. This algorithm solves both the optimal assignment and collision-free trajectory generation for swarms, in an integrated manner, when given the desired shape of the swarm (without pre-assigned terminal positions). The optimal assignment problem is solved using a distributed auction assignment that can vary the number of target positions in the assignment, and the collision-free trajectories are generated using sequential convex programming. Finally, model predictive control is used to solve the assignment and trajectory generation in real time using a receding horizon. The model predictive control formulation uses current state measurements to resolve for the optimal assignment and trajectory. The implementation of the distributed auction algorithm and sequential convex programming using model predictive control produces the swarm assignment and trajectory optimization algorithm that transfers a swarm of spacecraft to a desired shape in a distributed fashion. Once the desired shape is uploaded to the swarm, the algorithm determines where each spacecraft goes and how it should get there in a fuel-efficient, collision-free manner.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103391
StatePublished - 2015
EventAIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2015
CountryUnited States
CityKissimmee
Period1/5/151/9/15

Fingerprint

Model predictive control
Trajectories
Convex optimization
Spacecraft
Parallel algorithms
Communication

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Morgan, D., Chung, S. J., & Hadaegh, F. Y. (2015). Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and model predictive control. In AIAA Guidance, Navigation, and Control Conference American Institute of Aeronautics and Astronautics Inc, AIAA.

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and model predictive control. / Morgan, Daniel; Chung, Soon Jo; Hadaegh, Fred Y.

AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2015.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Morgan, D, Chung, SJ & Hadaegh, FY 2015, Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and model predictive control. in AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Guidance, Navigation, and Control Conference, 2015, Kissimmee, United States, 1/5/15.
Morgan D, Chung SJ, Hadaegh FY. Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and model predictive control. In AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA. 2015
Morgan, Daniel ; Chung, Soon Jo ; Hadaegh, Fred Y. / Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and model predictive control. AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2015.
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