Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance, as well as, collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.