A distributed optimization controller uses truncation functions and two-time-scale auxiliary variables to guarantee collision avoidance, connectivity preservation, and target convergence for multi-agent systems under time-varying communication topologies.
Control barrier function based quadratic programs with application to adaptive cruise control
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Distributed Safety-Critical Control of Multi-Agent Systems with Time-Varying Communication Topologies
A distributed optimization controller uses truncation functions and two-time-scale auxiliary variables to guarantee collision avoidance, connectivity preservation, and target convergence for multi-agent systems under time-varying communication topologies.