Data-driven robust distributed MPC for collision avoidance formation navigation of constrained nonholonomic multi-robot systems

In this work, we consider the robust collision avoidance formation navigation problem for multiple constrained nonholonomic robots with uncertain dynamics. Distributed model predictive control (MPC) based method is proposed in view of its ability to handle the input and state constraints of the robo...

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Veröffentlicht in:	2022 4th International Conference on Data-driven Optimization of Complex Systems (DOCS) S. 1 - 5
Hauptverfasser:	Fu, Junjie, Wen, Guanghui
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 28.10.2022
Schlagworte:	Adaptation models Collision avoidance data-driven learning formation navigation input and state constraints Learning systems Multi-robot systems Multiple nonholonomic robots Navigation Predictive models Trajectory
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