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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Bibliographic Details

Published in:	2022 4th International Conference on Data-driven Optimization of Complex Systems (DOCS) pp. 1 - 5
Main Authors:	Fu, Junjie, Wen, Guanghui
Format:	Conference Proceeding
Language:	English
Published:	IEEE 28.10.2022
Subjects:	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
Online Access:	Get full text
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