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Cooperative distributed model predictive control for embedded systems: experiments with hovercraft formations
Publikationstyp
Conference Paper
Date Issued
2025-05
Sprache
English
Start Page
11377
End Page
11383
Citation
IEEE International Conference on Robotics and Automation, ICRA 2025
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN of container
979-8-3315-4140-8
979-8-3315-4139-2
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each sampling step via a stabilizing decentralized real-time iteration scheme using the alternating direction method of multipliers. The efficient implementation does not require a central coordinator, executes onboard the hovercraft, and facilitates sampling intervals in the millisecond range. The formation control experiments showcase the flexibility of the approach on scenarios with point-to-point transitions, trajectory tracking, collision avoidance, and moving obstacles.
DDC Class
600: Technology