Safe Formation Control with Constrained Linear Model Predictive Control

Philippe Feyel

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Paper

Safe Formation Control with Constrained Linear Model Predictive Control

Topics: Autonomous Agents; Collective and Social Robots; Engineering Applications on Intelligent Control Systems and Optimization; Engineering Applications on Robotics and Automation; Guidance, Navigation and Control

In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 70-81, 2019 , Prague, Czech Republic

Author: Philippe Feyel

Affiliation: Safran Electronics & Defense, Massy and France

Keyword(s): Linear Model Predictive Control, Formation, Virtual Leader, Agents, Obstacles, Collision Avoidance, Swarm.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Collective and Social Robots ; Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: This paper proposes a safe formation control technic based on the virtual leader-follower principle employed to build agents’ trajectory. Each agent tracks its own trajectory using exclusively constrained linear Model Predictive Control (MPC). To ensure non-collision during formation control and transient phases such as formation reconfigurations, and thanks to the flexibility of MPC, a simple and flexible method for establishing collision and obstacle avoidance linear constraints is proposed. The efficiency of the approach is illustrated by the safe formation control and reconfiguration of a swarm of quadrotor helicopters.

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Paper citation in several formats:

Feyel, P. (2019). Safe Formation Control with Constrained Linear Model Predictive Control. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 70-81. DOI: 10.5220/0007918100700081

@conference{icinco19,
author={Philippe Feyel.},
title={Safe Formation Control with Constrained Linear Model Predictive Control},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2019},
pages={70-81},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007918100700081},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Safe Formation Control with Constrained Linear Model Predictive Control
SN - 978-989-758-380-3
IS - 2184-2809
AU - Feyel, P.
PY - 2019
SP - 70
EP - 81
DO - 10.5220/0007918100700081
PB - SciTePress