Distributed predictive formation control of networked mobile robots subject to communication delay

• Published in: Robotics and autonomous systems Vol. 91; pp. 194 - 207
• Main Authors: Hosseinzadeh Yamchi, Mohammad, Mahboobi Esfanjani, Reza
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.05.2017
• Subjects: Formation control; Model predictive control; Multi-robot systems; Time-delay systems; Time-delay systems; Model predictive control; Formation control; Multi-robot systems

This paper provides a novel distributed predictive controller with guaranteed stability to maintain formation between mobile robots during their motion along a desired path and assure no collisions with obstacles or other adjacent robots, while data is exchanged among them via a packet-delaying comm...