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Conference papers

Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations

Abstract : This paper addresses a predictive control strategy for multi-agent formations with a time-varying topology. The goal is to guarantee a trajectory tracking, where a reference trajectory is specified for an agent designed as the leader. Then, a predictive control strategy combined with the Potential Field method is used in order to derive a control action based only on local information within the group of agents. The main concern is that the interconnections between the agents are time-varying, affecting the neighborhood around each agent. The proposed method exhibits effective performance validated through some illustrative examples.
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https://hal-supelec.archives-ouvertes.fr/hal-00683940
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Submitted on : Monday, March 16, 2020 - 3:38:16 PM
Last modification on : Wednesday, February 2, 2022 - 3:52:59 PM
Long-term archiving on: : Wednesday, June 17, 2020 - 2:24:45 PM

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Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations. 4th International Conference on Agents and Artificial Intelligence (ICAART), Feb 2012, Vilamoura, Algarve, Portugal. pp.209-214, ⟨10.5220/0003749102090214⟩. ⟨hal-00683940⟩

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