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 multirobot
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.
Original language | English |
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Publication status | Published - 9 Jul 2016 |