Jeong tae Lee

Fully Distributed Real-Time MPC for Cooperative Mobile Manipulation Via Box-iLQR and ADMM with an Object-Centric Planar Projection

We propose a emph{fully distributed} real-time model predictive control framework for transporting a single rigid object with multiple mobile manipulators. Each robot rapidly solves a local optimal control problem via Box-iLQR, while ADMM enforces consensus on the shared object state without central…