2017
Occupancy grid based distributed MPC for mobile robots
Mohamed W. Mehrez, Tobias Sprodowski, Karl Worthmann, George K.I. Mann, Raymond G. Gosine, Juliana K. Sagawa +1
IROS 2017poster
In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. The key idea is to project the predicted state trajectory onto a grid resulting in an occupancy grid prediction. This approach has the advantage of utiliz…