Hierarchical Model Predictive Control for Multi-Robot Navigation
Abstract
Ensuring the stability is the most important requirement for the navigation control of multi-robot systems with no reference trajectory. The popular heuristic-search methods cannot provide theoretical guarantees on stability. In this paper, we propose a Hierarchical Model Predictive Control scheme that employs reachable sets to decouple the navigation problem of linear dynamical multi-robot systems. The proposed control scheme guarantees the stability and feasibility, and is more efficient and viable than other Model Predictive Control schemes, as evidenced by our simulation results. PDF
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Text
Huang et al. "Hierarchical Model Predictive Control for Multi-Robot Navigation." International Joint Conference on Artificial Intelligence, 2016.Markdown
[Huang et al. "Hierarchical Model Predictive Control for Multi-Robot Navigation." International Joint Conference on Artificial Intelligence, 2016.](https://mlanthology.org/ijcai/2016/huang2016ijcai-hierarchical/)BibTeX
@inproceedings{huang2016ijcai-hierarchical,
title = {{Hierarchical Model Predictive Control for Multi-Robot Navigation}},
author = {Huang, Chao and Chen, Xin and Zhang, Yifan and Qin, Shengchao and Zeng, Yifeng and Li, Xuandong},
booktitle = {International Joint Conference on Artificial Intelligence},
year = {2016},
pages = {3140-3146},
url = {https://mlanthology.org/ijcai/2016/huang2016ijcai-hierarchical/}
}