  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.

Optimization and Control;Multiagent Systems