Formation control of mobile robots using decentralized nonlinear model predictive control

  title={Formation control of mobile robots using decentralized nonlinear model predictive control},
  author={Tiago Trindade Ribeiro and Rafael Ferrari and Jessivaldo Santos and Andr{\'e} Scolari Conceiç{\~a}o},
  journal={2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
This paper presents a distributed nonlinear model predictive controller (NMPC) for formation control of a group of omnidirectional mobile robots. In this approach the controllers are distributed to the agents, and the terms of coupling allow the use of fixed and time-varying formations. The path following problem is expressed through a dynamic model of the robot's state errors, and the coordination problem is solved through adjustments in the robots' speeds combined with the path update rate… CONTINUE READING
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