ICRA 2020

[ICRA 2020 Best Paper Finalist] Online Trajectory Generation with DMPC for Multi-Robot Motion Planning @ICRA2020

Sep 18, 2020

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Dynamic Systems Lab

Model Predictive Control

Details

We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. An event-triggered replanning strategy is proposed to account for disturbances.The approach was experimentally validated with a swarm of up to 20 drones flying in close proximity Paper: http://www.dynsyslab.org/wp-content/papercite-data/pdf/luis-ral20.pdf ICRA2020 Slack Channel: #mob11_1 (https://icra20.slack.com/archives/C014EV2JLJV) Researchers: Carlos E. Luis, Marijan Vukosavljev, and Angela P. Schoellig For more information: https://www.dynsyslab.org https://www.linkedin.com/in/carlos-luis/

Category: ICRA 2020

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