Marco Di Pietro

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— In this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time single-integrator dynamics and the communication graph is undirected and time-varying. We propose a decentralized Model Predictive Control (MPC) scheme that takes into account constraints on the agent inputs and show that it(More)
In this paper we propose an application of distributed model predictive control techniques to the problem of driving a group of autonomous agents towards a consensus point, i.e. a negotiated position in their state space. Agents are assumed to be governed by discrete-time single-or double-integrator dynamics and the communication network can be directed and(More)
In this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time integrator dynamics and the communication graph is time-varying. We propose two decentralized Model Predictive Control (MPC) schemes that take into account constraints on the agents' inputs and show that they guarantee consensus under(More)
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