Broadcast Control of Multi-agent Systems with Double-integrator Vehicles

We develop a broadcast control method for multi-vehicle systems with double-integrator vehicles. In the existing study for single-integrator vehicles, two-stage control has been proposed. Based on this, we extend the result to the case with double-integrator vehicles. As the result, we obtain a four-stage control method and show the stochastic convergence to a local minimum of the given objective function. We evaluate the effectiveness of the proposed method by numerical simulation.