Hierarchical Model Predictive Control for Multi-Robot Navigation / 3140
Chao Huang, Xin Chen, Yifan Zhang, Shengchao Qin, Yifeng Zeng, Xuandong Li
Ensuring the stability is the most important requirement for the navigation control of multi-robot systems with no reference trajectory. The popular heuristic-search methods cannot provide theoretical guarantees on stability. In this paper, we propose a Hierarchical Model Predictive Control scheme that employs reachable sets to decouple the navigation problem of linear dynamical multi-robot systems. The proposed control scheme guarantees the stability and feasibility, and is more efficient and viable than other Model Predictive Control schemes, as evidenced by our simulation results.