Report
Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming
| العنوان: | Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming |
|---|---|
| المؤلفون: | Caregnato-Neto, Angelo, Maximo, Marcos Ricardo Omena de Albuquerque, Afonso, Rubens Junqueira Magalhães |
| سنة النشر: | 2022 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control |
| الوصف: | This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based on robust Model Predictive Control (MPC) with mixed-integer programming (MIP) encoding. The planner computes trajectories and assigns tasks for each element of the group in real-time, while also guaranteeing the communication network of the MAS to be robustly connected at all times. Additionally, we provide a data-based methodology to estimate the disturbances sets required by the robust MPC formulation. The results are demonstrated with experiments in two obstacle-filled scenarios Comment: Submitted to Advanced Robotics special issue on Online Motion Planning and Model Predictive Control |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1080/01691864.2022.2117997 |
| URL الوصول: | http://arxiv.org/abs/2206.00097 |
| رقم الانضمام: | edsarx.2206.00097 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1080/01691864.2022.2117997 |
|---|