Poster De Conférence Année : 2026

Distributed Model Predictive Control for Multi-Agent Systems

Controle prédictif distribuée pour les systèmes multi-agents

Résumé

This work proposes a navigation scheme that addresses the problem of collision-free navigation of multiple non-holonomic mobile robots in the presence of non-coupled and coupled state constraints, and input constraints. The scheme named a two-stage distributed model predictive control (DMPC), in the first stage, each agent computes in parallel, a warm-start trajectory as an initialization for the second stage using a less-constrained DMPC. Then, the second stage solves the full-constrained DMPC scheme with local information exchange between neighboring robots. This approach offers a simpler and more travel-time-efficient alternative to previous DMPC techniques. The performance was validated through simulations and experiments

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Dates et versions

hal-05564154 , version 1 (24-03-2026)

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Identifiants

  • HAL Id : hal-05564154 , version 1

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Abdullateef Ogundipe, Yiwen Chen, Auwal Shehu, Michael Defoort. Distributed Model Predictive Control for Multi-Agent Systems. Researchers'Tuesday, Mar 2026, Brussel, Belgium. ⟨hal-05564154⟩
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