Decentralized nonlinear model predictive control-based flock navigation with real-time obstacle avoidance in unknown obstructed environments

Decentralized nonlinear model predictive control-based flock navigation with real-time obstacle avoidance in unknown obstructed environments

This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle-avoidance strategy. More specifically, we integrate the local obsta...

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Bibliographic Details
Main Authors: Nuthasith Gerdpratoom, Kaoru Yamamoto
Format: Article
Language:English
Published: Frontiers Media S.A. 2025-06-01
Series:Frontiers in Robotics and AI
Subjects:
nonlinear MPC
flocking
local obstacle avoidance
hardware-in-the-loop
distributed control
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2025.1540808/full
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