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This paper presents a new distributed robust model predictive control algorithm for multivehicle trajectory optimization and demonstrates the approach with numerical simulations and multivehicle experiments. The technique builds on the robust-safe-but-knowledgeable (RSBK) algorithm, which is developed in this paper for the multivehicle case. RSBK uses constraint tightening to achieve robustness to...
A decision tree algorithm is used to infer a set of linguistic decision rules from a set of two-dimensional obstacle avoidance trajectories optimised using mixed integer linear programming (MILP). A method to predict a discontinuous function with fuzzy decision trees is proposed and shown to make a good approximation to the optimisation behaviour with significantly reduced computational expense. Decision...
This paper presents a decentralized robust model predictive control algorithm for multi-vehicle trajectory optimization. The algorithm is an extension of a previous robust safe but knowledgeable (RSBK) algorithm that uses the constraint tightening technique to achieve robustness, an invariant set to ensure safety, and a cost-to-go function to generate an intelligent trajectory around obstacles in...
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