Stability properties of a receding horizon controller for cooperating UAVs

@article{Li2004StabilityPO,
  title={Stability properties of a receding horizon controller for cooperating UAVs},
  author={Wei Li and Christos. G. Cassandras},
  journal={2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)},
  year={2004},
  volume={3},
  pages={2905-2910 Vol.3}
}
We consider a setting where multiple vehicles form a networked team cooperating to visit multiple target points associated with rewards. The goal is to maximize the total reward accumulated over a given time interval. We have proposed a receding horizon (RH) control scheme which dynamically determines vehicle trajectories by solving a sequence of optimization problems over a planning horizon and executing them over a shorter action horizon. A key property observed in the operation of this… CONTINUE READING

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