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Modeling and Optimal Centralized Control of a Large-Size Robotic Population

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2 Author(s)
Milutinovic, D. ; Inst. for Syst. & Robotics, Lisbon ; Lima, P.

This paper describes an approach to the modeling and control of multiagent populations composed of a large number of agents. The complexity of population modeling is avoided by assuming a stochastic approach, under which the agent distribution over the state space is modeled. The dynamics of the state probability density functions is determined, and a control problem of maximizing the probability of robotic presence in a given region is introduced. The Minimum Principle for the optimal control of partial differential equations is exploited to solve this problem, and it is applied to the mission control of a simulated large robotic population

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 6 )