Hierarchical model predictive control for multi-robot navigation

摘要

Ensuring the stability is the most important requirement
\nfor the navigation control of multi-robot
\nsystems with no reference trajectory. The popular
\nheuristic-search methods cannot provide theoretical
\nguarantees on stability. In this paper, we
\npropose a Hierarchical Model Predictive Control
\nscheme that employs reachable sets to decouple
\nthe navigation problem of linear dynamical multirobot
\nsystems. The proposed control scheme guarantees
\nthe stability and feasibility, and is more efficient
\nand viable than other Model Predictive Control
\nschemes, as evidenced by our simulation results.