Preference Based Group Agreement in Cooperative Control

A group coordination problem is studied, where different agents are modeled as double integrator systems. Each agent aims to minimize a convex optimization function on the velocity. The coordination objective, studied in this note, is to find distributed coordination laws, such that the agents achieve a common velocity, which is the minimizer of the sum of all objective functions, while achieving a certain inter-agent spacing. Two different fully distributed coordination algorithms are proposed and analyzed. The algorithms combine ideas from distributed optimization and group coordination.