相关论文: Online Trajectory Generation with Distributed Mode…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…

This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…

Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot model capable of swinging between different bars. The robot's design is based on a four-link underactuated structure. We propose an offline trajectory…

A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…

Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…

Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…

In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…

We propose a Model Predictive Control (MPC) method for collision-free navigation that uses amortized variational inference to approximate the distribution of optimal control sequences by training a normalizing flow conditioned on the start,…

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…

This paper presents a distributed learning model predictive control (DLMPC) scheme for distributed linear time invariant systems with coupled dynamics and state constraints. The proposed solution method is based on an online distributed…

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…

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…

We propose Diffusion Model Predictive Control (D-MPC), a novel MPC approach that learns a multi-step action proposal and a multi-step dynamics model, both using diffusion models, and combines them for use in online MPC. On the popular D4RL…

Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged…