Circular formation problem; collision avoidance; distributed model predictive control; multi-agent control; Circular orbit; Collisions avoidance; Distributed Model predictive Control; Formation control; Multi agent; Multiagent control; Multiagent systems (MASs); Multiple agents; Simple++; Control and Systems Engineering; Computer Science Applications
Abstract :
[en] This paper presents the development of a didactic robotic demonstrator to study the circular formation problem (CFP) of multi-agent systems based on distributed model predictive control (DMPC). CFP can arise in various fields, such as robotics, drones, and space applications. This study proposes a method for multiple agents to sequentially enter a circular orbit, one by one, and move along the orbit at a predefined speed while maintaining a desirable distance from each other. Due to the advantages of DMPC, the proposed method allows each agent to independently generate control inputs while considering various types of constraints related to collision avoidance with the other agents. The methodology is tested and validated with three differential drive robots, i.e., Turtlebots.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Kim, Seongheon ; Université de Mons - UMONS > Faculté Polytechnique > Service Systèmes, Estimation, Commande et Optimisation ; Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, South Korea
Araujo Pimentel, Guilherme ; Université de Mons - UMONS > Faculté Polytechnique > Service Systèmes, Estimation, Commande et Optimisation
Kim, Yoonsoo ; Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, South Korea
Vande Wouwer, Alain ; Université de Mons - UMONS > Faculté Polytechnique > Service Systèmes, Estimation, Commande et Optimisation
Language :
English
Title :
A Simple Demonstrator for Multi-agent Circular Formation Control With Collision Avoidance Using Distributed Model Predictive Control
Publication date :
February 2025
Journal title :
International Journal of Control, Automation and Systems
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