Dynamic-priority-based DMPC with an occupancy grid for mobile systems

DOI10.1080/00207179.2019.1707291MaRDI QIDQ5165318zbMATH OpenOpenAlexFDO

Authors Tobias Sprodowski, Mohamed W. Mehrez, Jürgen Pannek

Publication date 16 November 2021

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2019.1707291

zbMATH Keywords

distributed model predictive control (DMPC)dynamic priority rulesholonomic robotsmulti-agent systemnon-cooperative controlrobot planning

Mathematics Subject Classification ID

Multi-agent systems (93A16) Model predictive control (93B45) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Differential communication with distributed MPC based on occupancy grid
• Collision avoidance for mobile robots based on an occupancy grid
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Cites work

• A distributed NMPC scheme without stabilizing terminal constraints
• Differential communication with distributed MPC based on occupancy grid
• Distributed Receding Horizon Control of Vehicle Platoons: Stability and String Stability
• scientific article; zbMATH DE number 1215248 (Why is no real title available?)
• Nonlinear model predictive control. Theory and algorithms
• On multiple moving objects
• Parallelizing a state exchange strategy for noncooperative distributed NMPC
• Robust distributed model predictive control

Cited in

(5)

• Collision avoidance for mobile robots based on an occupancy grid
• A distributed model predictive control for multiple mobile robots with the model uncertainty
• Differential communication with distributed MPC based on occupancy grid
• scientific article; zbMATH DE number 5008243 (Why is no real title available?)
• Self-triggered model predictive control for nonlinear continuous-time networked system via ensured performance control samples selection

Describes a project that uses

Uses Software

• NLopt

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