Deep Continuum Deformation Coordination and Optimization with Safety Guarantees

In this paper, we develop and present a novel strategy for safe coordination of a large-scale multi-agent team with "local deformation" capabilities. Multi-agent coordination is defined by our proposed method as a multi-layer deformation problem specified as a Deep Neural Network (DNN) optimization problem. The proposed DNN consists of p hidden layers, each of which contains artificial neurons representing unique agents. Furthermore, based on the desired positions of the agents of hidden layer k (k = 1,⋯, p−1), the desired deformation of the agents of hidden• layer k + 1 is planned. In contrast to the available neural network learning problems, our proposed neural network optimization receives time-invariant reference positions of the boundary agents as inputs and trains the weights based on the desired trajectory of the agent team configuration, where the weights are constrained by certain lower and upper bounds to ensure inter-agent collision avoidance. We simulate and provide the results of a large-scale quadcopter team coordination tracking a desired elliptical trajectory to validate the proposed approach.