Switched Linear Multi-Robot Navigation Using Hierarchical Model Predictive Control

Switched Linear Multi-Robot Navigation Using Hierarchical Model Predictive Control

Chao Huang, Xin Chen, Yifan Zhang, Shengchao Qin, Yifeng Zeng, Xuandong Li

Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence
Main track. Pages 4331-4337. https://doi.org/10.24963/ijcai.2017/605

Multi-robot navigation control in the absence of reference trajectory is rather challenging as it is expected to ensure stability and feasibility while still offer fast computation on control decisions. The intrinsic high complexity of switched linear dynamical robots makes the problem even more challenging. In this paper, we propose a novel HMPC based method to address the navigation problem of multiple robots with switched linear dynamics. We develop a new technique to compute the reachable sets of switched linear systems and use them to enable the parallel computation of control parameters. We present theoretical results on stability, feasibility and complexity of the proposed approach, and demonstrate its empirical advance in performance against other approaches.
Keywords:
Planning and Scheduling: Distributed/Multi-agent Planning
Robotics and Vision: Motion and Path Planning
Robotics and Vision: Multi-Robot Systems