What is it about?
The Fermat-Weber location problem asks to find a point that minimize the weighted distance sum to N facilities. This paper proposes a modified gradient control law to reach the Fermat-Weber point. The control law uses only the local bearing vectors from the agent to the facilities.
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Why is it important?
The control law is distributed and independent on the local coordinate of the agent. Moreover, it can be implemented by bearing vectors, thus, it can be implemented by only vision sensors.
Perspectives
This control law can be used by a quadcopter, which supervises a team of ground robots. The quadcopter can regulate its position using the proposed algorithm. The bearing vectors can be obtained from an on-board camera.
Dr. Minh Hoang Trinh
Hanoi University of Science and Technology
Read the Original
This page is a summary of: The Fermat–Weber location problem in single integrator dynamics using only local bearing angles, Automatica, September 2015, Elsevier,
DOI: 10.1016/j.automatica.2015.06.017.
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