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 …

Multirobot motion planning and control has been investigated for decades and is still an
active research area due to the growing demand for both performance optimality and safety …

This work presents a method for multi-robot trajectory planning and coordination based on
nonlinear model predictive control (NMPC). In contrast to centralized approaches, we …

Trajectory planning for multiple robots in shared environments is a challenging problem
especially when there is limited communication available or no central entity. In this article …

In this article, a distributed time‐varying optimization problem for multirobot systems with
collision avoidance is studied. A hierarchical control framework is employed to simplify the …

This paper addresses the problem of cooperative transportation of an object rigidly grasped
by N robotic agents. We propose a decentralized Nonlinear Model Predictive Control …

In this paper, a major challenge in the field of trajectory planning for autonomous on-road
vehicles is addressed: to calculate trajectories efficiently and reliably. The proposed method …

This work presents a distributed method for multi-robot coordination based on nonlinear
model predictive control (NMPC) and dual decomposition. Our approach allows the robots to …

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 …

This work presents a novel distributed model predictive control (DMPC) strategy for
controlling multi-vehicle systems moving in formation. The vehicles' motion trajectories are …