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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
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