As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where agents seek to minimize energy consumption subject to a set of safety and task constraints. In this paper, we provide a sufficient and necessary condition for an energy-minimizing agent with integrator dynamics to have a continuous control input at the transition between unconstrained and constrained trajectories. In addition, we present and analyze barycentric motion and collision avoidance constraints to be used in constraint-driven control of swarms.

中文翻译：

---

代理的能量最优运动规划：重心运动和碰撞避免约束

随着机器人群系统的出现，为能源消耗和安全性提供强有力的保证以最大限度地提高系统性能变得越来越重要。实现这些保证的一种方法是通过约束驱动控制，其中代理寻求在一组安全和任务约束下最小化能源消耗。在本文中，我们为具有积分器动力学的能量最小化代理提供了充分必要条件，以便在无约束和约束轨迹之间的过渡处具有连续控制输入。此外，我们提出并分析了用于群体约束驱动控制的重心运动和避免碰撞约束。