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Predictive control for tight group formation of Multi-Agent Systems

Abstract : This paper addresses the real-time control problem of a group of agents in the presence of non-convex collision avoidance constraints. The goal is to guarantee the convergence towards a tight formation. Convex (polyhedral) regions will be used to define safety regions around each agent. Then, using the dynamics and constraints, an optimization-based control design can be adopted upon an appropriate receding horizon principle. A single optimal control problem is solved based on a prediction of the future evolution of the system and the resulting control law is implemented in a centralized way. At the supervision level, it is shown that the decision about which agents should take on what role in the desired tight formation is equivalent with a classical pairing (or task assignment) problem. An important contribution is the re-evaluation of the pairing at each iteration.
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Submitted on : Monday, March 16, 2020 - 3:35:20 PM
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  • HAL Id : hal-00592346, version 1


Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. Predictive control for tight group formation of Multi-Agent Systems. 18th IFAC World Congress, Aug 2011, Milan, Italy. 6 p. ⟨hal-00592346⟩



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