2023
Distributed Model Predictive Formation Control of Robots with Sampled Trajectory Sharing in Cluttered Environments
IROS 2023poster
In this paper, we propose a Model Predictive Control (MPC) based distributed formation control method for a multi-robot system (MRS) that would move them among dynamic obstacles to a desired goal position. Specifically, after formulating the formation control, as a distributed version of MPC, we pro…