Safe Formation Control with Constrained Linear Model Predictive Control

DOI10.5220/0007918100700081MaRDI QIDQ6180879zbMATH OpenOpenAlexFDO

Authors Philippe Feyel

Publication date 2 January 2024

Published in Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.5220/0007918100700081

zbMATH Keywords

collision avoidanceobstaclesswarmvirtual leaderformationagentslinear model predictive control

Mathematics Subject Classification ID

Linear systems in control theory (93C05) Multi-agent systems (93A16) Model predictive control (93B45)

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Cited in

(2)

• A cooperative centralized MPC for collision avoidance of a fleet of AVs
• Adaptive formation control architectures for a team of quadrotors with multiple performance and safety constraints

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