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

DOI10.1080/00207179.2018.1514129zbMATH Open1443.93045arXiv1804.09039OpenAlexW2964306184WikidataQ129353444 ScholiaQ129353444MaRDI QIDQ5113310FDOQ5113310

Alexandros Filotheou, Dimos V. Dimarogonas, Alexandros Nikou

Publication date: 4 June 2020

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

Abstract: 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 $R^3$ , with static obstacles. In particular, we propose a decentralized 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.

Full work available at URL: https://arxiv.org/abs/1804.09039

zbMATH Keywords

multi-agent systemsrobust controlcollision avoidancenonlinear model predictive controldecentralised control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Multi-agent systems (93A16) Model predictive control (93B45)

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Cited In (5)

• A decentralized multi-objective optimization algorithm
• Constrained control for systems on matrix Lie groups with uncertainties
• Adaptive robot navigation with collision avoidance subject to \(2\)nd-order uncertain dynamics
• A line of sight constraint based on intermediary points for connectivity maintenance of multiagent systems using mixed-integer programming
• Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers

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