A Distributed Online Optimization Strategy for Cooperative Robotic Surveillance
Lorenzo Pichierri,Guido Carnevale,Lorenzo Sforni,Andrea Testa,Giuseppe Notarstefano,Lorenzo Pichierri,Guido Carnevale,Lorenzo Sforni,Andrea Testa,Giuseppe Notarstefano
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization problem inspired by the emerging distributed aggregative framework. In particular, each defending robot determines its own position depending on (i) the relative pos...
