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Less Is More: Mixed-Initiative Model-Predictive Control With Human Inputs
This paper presents a new method for injecting human inputs into mixed-initiative interactions between humans and robots. The method is based on a model-predictive control (MPC) formulation, whichExpand
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Balanced deployment of multiple robots using a modified kuramoto model
In this paper, we study the problem of making multiple agents spread out equidistantly on a circle. The proposed solution is a new Kuramoto-like model for multi-robot coordination, in which theExpand
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Road-following formation control of autonomous ground vehicles
This work presents a novel cooperative path planning for formation keeping robots traversing along a road with obstacles and possible narrow passages. A unique challenge in this problem is aExpand
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Proportional-Integral Distributed Optimization for Networked Systems
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Behavior-based switch-time MPC for mobile robots
Model predictive control can be computationally intensive as it has to compute an optimal control trajectory at each time instant. As such, we present a method in which parametrized behaviors areExpand
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Mission modeling, planning, and execution module for teams of unmanned vehicles
Mission Modeling, Planning, and Execution Module (M2PEM) is a user friendly graphical framework for mission design and execution. It extends a subset of the Business Process Modeling and NotationExpand
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Continuous-time proportional-integral distributed optimisation for networked systems
In this paper, we explore the relationship between dual decomposition and the consensus-based method for distributed optimisation. The relationship is developed by examining the similarities betweenExpand
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Adaptive time horizon optimization in model predictive control
Whenever the control task involves the tracking of a reference signal the performance is typically improved if one knows the future behavior of this reference. However, in many applications, this isExpand
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Adaptive look-ahead for robotic navigation in unknown environments
Receding horizon control strategies have proven effective in many control and robotic applications. These methods simulate the state a certain time horizon into the future to choose the optimalExpand
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Distributed virtual leader moving formation control using behavior-based MPC
  • Greg Droge
  • Computer Science
  • American Control Conference (ACC)
  • 1 July 2015
In this paper we present a virtual leader formation control algorithm in which agents collaboratively adapt the formation and its motion in a distributed fashion. The formation is defined in terms ofExpand
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