Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of , with static obstacles. In particular, we propose a decentralised control protocol such that each agent reaches a predefined po...

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Bibliographic Details
Published in:International journal of control 2020-06, Vol.93 (6), p.1470-1484
Main Authors: Filotheou, Alexandros, Nikou, Alexandros, Dimarogonas, Dimos V.
Format: Article
Language:English
Subjects:
Barriers
Collision avoidance
Collisions
Computer simulation
Controllers
decentralised control
Decentralized control
Multi-agent systems
Multiagent systems
Navigation
Nonlinear control
nonlinear model predictive control
Nonlinear systems
Predictive control
Predictive maintenance
Reagents
robust control
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Summary:This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of , with static obstacles. In particular, we propose a decentralised control protocol such that each agent reaches a predefined position at the workspace, while using 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.
ISSN:0020-7179
1366-5820
1366-5820
DOI:10.1080/00207179.2018.1514129