On quadratic stage costs for mobile robots in model predictive control

PAMM ◽  
2017 ◽  
Vol 17 (1) ◽  
pp. 825-826
Author(s):  
Matthias A. Müller ◽  
Karl Worthmann
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control

scholarly journals Anti‐sideslip path tracking of wheeled mobile robots based on fuzzy model predictive control

2020 ◽  
Vol 56 (10) ◽  
pp. 490-493
Author(s):  
Guoxing Bai ◽  
Yu Meng ◽  
Li Liu ◽  
Weidong Luo ◽  
Qing Gu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control ◽  
Fuzzy Model ◽  
Path Tracking ◽  
Wheeled Mobile Robots

Model Predictive Control without terminal constraints or costs for holonomic mobile robots

2020 ◽  
Vol 127 ◽  
pp. 103468 ◽  
Author(s):  
Mohamed W. Mehrez ◽  
Karl Worthmann ◽  
Joseph P.V. Cenerini ◽  
Mostafa Osman ◽  
William W. Melek ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control ◽  
Terminal Constraints

Robust Connectivity for Multiagent Systems using Mixed-Integer Programming

2020 ◽  
Author(s):  
Angelo Caregnato-Neto ◽  
Marcos R. O. A. Maximo ◽  
Rubens J. M. Afonso
Keyword(s):  
Communication Network ◽  
Integer Programming ◽  
Model Predictive Control ◽  
Mobile Robots ◽  
Mixed Integer Programming ◽  
Multiagent Systems ◽  
Network Model ◽  
Predictive Control ◽  
Mixed Integer ◽  
Connectivity Problem

This work is concerned with the problem of planning trajectories for a group of mobile robots operating in a obstacle-filled environment. The objective of the robots is to cooperatively reach targets sets, avoiding collisions between themselves and with obstacles, while maintaining the robust connectivity of their communication network. Model predictive control with mixed-integer encoding is used to plan the trajectories in a centralized fashion. Two novel constraints are introduced to cope with the robustness connectivity problem. Simulations are provided to evaluate the proposal.

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