Self-adjusting control for multi robot team by the network operator method

Abstract

The problem we research is to construct such control function that autonomously provides control commands upon the received values of the object's state. We formulated mathematically the problem of control synthesis. The goal of synthesis is to find a multidimensional control function that depends on the current states of all objects. The synthesized control function adjusts any time the optimal control values to allow each robot achieving the objectives with the best quality functional value. The network operator method is used to solve the problem. The effectiveness of the proposed method is demonstrated in simulations on a team of two mobile robots performing a parking task.