Decentralized control for optimizing communication with infeasible regions

Stephanie Gil, Samuel Prentice, Nicholas Roy, Daniela Rus

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


In this paper we present a decentralized gradient-based controller that optimizes communication between mobile aerial vehicles and stationary ground sensor vehicles in an environment with infeasible regions. The formulation of our problem as a MIQP is easily implementable, and we show that the addition of a scaling matrix can improve the range of attainable converged solutions by influencing trajectories to move around infeasible regions. We demonstrate the robustness of the controller in 3D simulation with agent failure, and in 10 trials of a multi-agent hardware experiment with quadrotors and ground sensors in an indoor environment. Lastly, we provide analytical guarantees that our controller strictly minimizes a nonconvex cost along agent trajectories, a desirable property for general multi-agent coordination tasks.

Original languageEnglish (US)
Title of host publicationRobotics Research - The 15th International Symposium ISRR
EditorsHenrik I. Christensen, Oussama Khatib
PublisherSpringer Verlag
Number of pages19
ISBN (Print)9783319293622
StatePublished - 2017
Externally publishedYes
Event15th International Symposium of Robotics Research, 2011 - Flagstaff, United States
Duration: Dec 9 2011Dec 12 2011

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other15th International Symposium of Robotics Research, 2011
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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