@conference {1521572,
	title = {Decentralized control for optimizing communication with infeasible regions},
	booktitle = {International Symposium on Robotics Research (ISRR)},
	year = {2011},
	address = {Flagstaff, Arizona},
	abstract = {In this paper we present a decentralized gradient-based controller that optimizes communication between mobile aerial vehicles and stationary ground sensor
vehicles in an environment with infeasible regions. The formulation of our problem
as a MIQP is easily implementable, and we show that the addition of a scaling matrix
can improve the range of attainable converged solutions by influencing trajectories
to move around infeasible regions. We demonstrate the robustness of the controller
in 3D simulation with agent failure, and in 10 trials of a multi-agent hardware experiment with quadrotors and ground sensors in an indoor environment. Lastly, we
provide analytical guarantees that our controller strictly minimizes a nonconvex cost
along agent trajectories, a desirable property for general multi-agent coordination
tasks.},
	author = {S. Gil and S. Prentice and N. Roy and Rus, D.}
}
