The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 10, 2019
Filed:
Nov. 01, 2016
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Piyush Grover, Somerville, MA (US);
Karthik Elamvazhuthi, Tempe, AZ (US);
Mitsubishi Electric Research Laboratories, Inc, Cambridge, MA (US);
Abstract
Motion of multiple agents with identical non-linear dynamics is controlled to change density of the agents from the initial to the final density. A first control problem is formulated for optimizing a control cost of changing density of the agents from the initial density to the final density subject to dynamics of the agents in a density space. The first control problem, which is a non-linear non-convex problem over a multi-agent control and a density of the agents, is transformed into a second control problem over the density of the agents and a product of the multi-agent control and the density of the agents. The second control problem is a non-linear convex problem that is solved to produce the control input for each section of the state space. A motion of each agent is controlled according to a control input corresponding to its section of the state space.