相关论文: Asynchronous distributed collision avoidance with …

This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…

A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…

We propose and analyse a model predictive control (MPC) strategy tailored for networks of underwater agents tasked with maintaining formation while following a shared path and using acoustic communication channels. The strategy accommodates…

This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…

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…

This paper presents a unified and scalable framework for predictive and safe autonomous navigation in dynamic transportation environments by integrating model predictive control (MPC) with distributed Koopman operator learning.…

This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…

In the real world, unmanned surface vehicles (USV) often need to coordinate with each other to accomplish specific tasks. However, achieving cooperative control in multi-agent systems is challenging due to issues such as non-stationarity…

This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…

Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced search-and-rescue operations. A critical requirement of these…

For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…

Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…

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…

Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…

This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…

This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…

Accurate tracking of underwater acoustic sources is critical for a variety of marine applications, yet remains a challenging task due to communication constraints and environmental uncertainties. In this regard, this paper addresses the…

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…

Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to…

In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…