A Discrete-time Distributed Optimization Algorithm for Multi-robot Coordination Target Monitor

In this paper, the task of multi-robot coordination monitor as an optimization problem is formulated. The whole cost function consists of the sum of local cost functions for each robot to evaluate the best location. To encircle the target, a global equality constraint is introduced, and convex sets are built for the feasibility constraints of robots' location. Then, a distributed discrete-time algorithm is developed for the task of multi-robot coordination monitor, and it is also proven to converge to an optimal solution of the established optimization problem under certain initial restriction. Finally, a numerical simulation shows the effectiveness of the proposed distributed optimization approach.