Related papers: Event-triggered and distributed model predictive c…
This note proposes a distributed model predictive control (DMPC) scheme with switched cost functions for a class of spatially interconnected systems with communication constraints. Non-iterative and parallel communication strategy is…
This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…
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…
Time delays in communication networks are one of the main concerns in deploying robots with computation boards on the edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable of handling varying…
This paper presents a Model Predictive Control (MPC) scheme for flight scheduling and energy management of electric aviation networks, where electric aircraft transport passengers between electrified airports equipped with sustainable…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
This paper addresses the problem of distributed secondary voltage control of an islanded microgrid (MG) from a cyber-physical perspective. An event-triggered distributed model predictive control (DMPC) scheme is designed to regulate the…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
A key motivation in the development of Distributed Model Predictive Control (DMPC) is to accelerate centralized Model Predictive Control (MPC) for large-scale systems. DMPC has the prospect of scaling well by parallelizing computations…
The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…
The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
Transportation is a major contributor to CO2 emissions, making it essential to optimize traffic networks to reduce energy-related emissions. This paper presents a novel approach to traffic network control using Differentiable Predictive…
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…
Traditionally, traffic incident management (TIM) programs coordinate the deployment of emergency resources to immediate incident requests without accommodating the interdependencies on incident evolutions in the environment. However,…
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…