Related papers: Distributed Model Predicted Control of Multi-agent…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
The distributed optimal synchronization problem with linear quadratic cost is solved in this paper for multi-agent systems with an undirected communication topology. For the first time, the optimal synchronization problem is formulated as a…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
Distributed optimization is often widely attempted and innovated as an attractive and preferred methodology to solve large-scale problems effectively in a localized and coordinated manner. Thus, it is noteworthy that the methodology of…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
This paper presents Density-based Predictive Control (DPC), a novel multi-agent control strategy for efficient non-uniform area coverage, grounded in optimal transport theory. In large-scale scenarios such as search and rescue or…
A distributed adaptive control strategy is developed for heterogeneous multiagent systems in nonlinear Brunovsky form with \({\pd}\)-dimensional $n^{\text{th}}$-order dynamics, operating under time-triggered switching communication…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is…
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…
This paper studies distributed resilient consensus problem for a class of uncertain nonlinear multiagent systems susceptible to deception attacks. The attacks invade both sensor and actuator channels of each agent. A specific class of…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
In distributed model predictive control (MPC), the control input at each sampling time is computed by solving a large-scale optimal control problem (OCP) over a finite horizon using distributed algorithms. Typically, such algorithms require…
Cooperative Distributed Model Predictive Control (DiMPC) architecture employs local MPC controllers to control different subsystems, exchanging information with each other through an iterative procedure to enhance overall control…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…