Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming
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DOI: 10.1080/01691864.2022.2117997
Abstract: This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based… read more here.
Keywords: drive robots; mpc mixed; differential drive; mixed integer ... See more keywords