# Receding Horizon Control in Deep Structured Teams: A Provably Tractable Large-Scale Approach with Application to Swarm Robotics

@article{Arabneydi2021RecedingHC, title={Receding Horizon Control in Deep Structured Teams: A Provably Tractable Large-Scale Approach with Application to Swarm Robotics}, author={Jalal Arabneydi and Amir G. Aghdam}, journal={ArXiv}, year={2021}, volume={abs/2110.10554} }

In this paper, a deep structured tracking problem is introduced for a large number of decision-makers. The problem is formulated as a linear quadratic deep structured team, where the decision-makers wish to track a global target cooperatively while considering their local targets. For the unconstrained setup, the gauge transformation technique is used to decompose the resultant optimization problem in order to obtain a low-dimensional optimal control strategy in terms of the local and global…

## One Citation

Deep Structured Teams in Arbitrary-Size Linear Networks: Decentralized Estimation, Optimal Control and Separation Principle

- Computer Science, MathematicsArXiv
- 2021

It is proved that the optimal strategy is linear in the local state estimate as well as the deep state estimate and can be efficiently computed by two scale-free Riccati equations and Kalman filters.

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