Stomberg, GöstaGöstaStombergSchwan, RolandRolandSchwanGrillo, AndreaAndreaGrilloJones, ColinColinJonesFaulwasser, TimmTimmFaulwasser2025-10-022025-10-022025-05IEEE International Conference on Robotics and Automation, ICRA 2025979-8-3315-4140-8979-8-3315-4139-2https://hdl.handle.net/11420/57773This 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.enTechnology::600: TechnologyConference Paper10.1109/ICRA55743.2025.11128032Conference Paper