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This work presents a novel distributed model predictive control (DMPC) strategy for controlling multi-vehicle systems moving in formation. The vehicles’ motion trajectories are parameterized as polynomial splines and by exploiting the properties of the B-spline basis functions, constraints on the trajectories are efficiently enforced. The computations for solving the resulting optimization problem...
This paper presents an ambitious methodology of autonomous navigation for multirotor UAVs in obstructed environments. The strategy was formulated to provide the multirotor vehicles the capability to produce autonomously quasi-optimal and safe trajectories, although generally they have at their disposal limited computational resources on board. The problem is formulated in a model predictive control...
This work presents an online distributed motion planning strategy for cooperating vehicles. The motion planning is formulated as an optimization problem that returns smooth trajectories. These are parameterized as splines, which allows a representation with a limited number of variables and enables guaranteed constraint satisfaction with a finite set of constraints. The computations for solving the...
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