Distributed Optimization Algorithm for Multi-Robot Formation with Virtual Reference Center

In this letter, we use a distributed optimization approach to solve class of multi-robot formation problem with virtual reference center. We investigate the design and analysis constrained consensus algorithm sum objective functions some local constraints. system center, each robot has messages on its own constraints function, as well message about that interacts At same time, all robots collaborate find minimum value function defined by formation. To optimal formation, propose an fixed step size better performance. addition, combination Hungarian assignment proposed get matching system.