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Communication Dans Un Congrès Année : 2024

Online B-spline based trajectory planning for swarm of agents using distributed model predictive control

Résumé

This paper deals with the motion planing in real-time for swarm of agents using distributed Model Predictive Control (DMPC). Optimization-based control helps both to stabilize the motion dynamics of the robots and to enforce the system's constraints. However, the price is a significant increase in complexity as the scale of the system surges. To improve the scalability for a large formation, we propose a DMPC framework that considers B-spline parameterizations for the agents' trajectories.
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Dates et versions

hal-04561299 , version 1 (26-04-2024)

Identifiants

  • HAL Id : hal-04561299 , version 1

Citer

Cong Khanh Dinh, Ionela Prodan, Florin Stoican. Online B-spline based trajectory planning for swarm of agents using distributed model predictive control. 2024 International Conference on Unmanned Aircraft Systems, ICUAS'24, Jun 2024, Chania Crete, Greece. ⟨hal-04561299⟩

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