This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its …
This paper proposes Distributed Model Predictive Covariance Steering (DMPCS), a novel method for safe multi-robot control under uncertainty. The scope of our approach is to blend …
H Zhou, C Liu - … IEEE International Conference on Robotics and …, 2021 - ieeexplore.ieee.org
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and …
Y Hu, J Fu, G Wen - IEEE Transactions on Control of Network …, 2022 - ieeexplore.ieee.org
Data-based machine learning methods have been successfully applied to control system design in recent years. However, safety during the learning and control process is difficult to …
This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate …
G Droge, M Egerstedt - 2013 American Control Conference, 2013 - ieeexplore.ieee.org
When considering a distributed control framework for a multi-agent system, care has to be taken to respect the limited information available to each agent as well as the amount of …
P Wang, B Ding - International Journal of Control, 2014 - Taylor & Francis
For the tracking and formation problem of multi-agent systems with collision avoidance, a synchronous distributed model predictive control (DMPC) algorithm is proposed. We …
R Tallamraju, S Rajappa, MJ Black… - … on Safety, Security …, 2018 - ieeexplore.ieee.org
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning …
CE Luis, M Vukosavljev… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. We adopted the on-demand collision avoidance method …