Trajectory Estimation in Unknown Nonlinear Manifold Using Koopman Operator Theory
Robotics
2023-12-12 v1 Systems and Control
Systems and Control
Abstract
Formation coordination is a critical aspect of swarm robotics, which involves coordinating the motion and behavior of a group of robots to achieve a specific objective. In formation coordination, the robots must maintain a specific spatial arrangement while in motion. In this paper, we present a leader-follower column formation coordination problem in an unknown, two-dimensional nonlinear manifold, where we redefining it as a trajectory estimation problem. Leveraging Koopman operator theory and Extended Dynamic Mode Decomposition, we estimate the measurement vectors for the follower agent and guide its nonlinear trajectories.
Cite
@article{arxiv.2312.05428,
title = {Trajectory Estimation in Unknown Nonlinear Manifold Using Koopman Operator Theory},
author = {Yanran Wang and Michael J. Banks and Igor Mezic and Takashi Hikihara},
journal= {arXiv preprint arXiv:2312.05428},
year = {2023}
}