Hamiltonian Formalism in Team Control Problems

Abstract

We consider the target control synthesis problem for a team of single-type plants performing a common motion to a target set under the condition that the team members do not collide with each other. In the process of motion, the team members must stay inside a virtual container forming a standard motion (tube) and avoiding the obstacles known in advance by reconfiguration. The general scheme for solving this problem, which reduces the original problem to a series of subproblems, is given, and Hamiltonian formalism is used for a detailed consideration of the subproblems of terminal control of ellipsoidal tubes, the container motions between moving external obstacles, and the evolution of the team inside the virtual container.