UC Riverside

The design and analysis of distributed continuous-time constrained optimization algorithms are validated in this thesis. The crazyflie platform is used for validating the algorithms. The implementation of the algorithm using crazyflie platform takes place. Firstly, a distributed optimization algorithm with general time-varying cost functions is implemented to make the crazyflies follow a circular trajectory in a designed formation. Then several obstacles, which are implemented as inequality constraints, are put into the environment. The UAVs are implemented to avoid all obstacles and find the best trajectory close to the desired trajectory. In all, this thesis gives a full description on how to implement a distributed optimization problem in multi-agent systems using UAVs.