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Mixed-Integer Programming Techniques in Distributed MPC Problems
Abstract : This chapter proposes a distributed approach for the resolution of a multi-agent problem under collision and obstacle avoidance conditions. Using hyperplane arrangements and mixed integer programming, we provide an efficient description of the feasible region verifying the avoidance constraints. We exploit geometric properties of hyperplane arrangements and adapt this description to the distributed scheme in order to provide an efficient Model Predictive Control (MPC) solution. Furthermore, we prove constraint validation for a hierarchical ordering of the agents.
Cited literature [15 references]
https://hal.inria.fr/hal-00826633
Contributor : Josiane Dartron Connect in order to contact the contributor
Submitted on : Monday, March 16, 2020 - 3:55:52 PM
Last modification on : Thursday, November 18, 2021 - 3:54:13 AM
Long-term archiving on: : Wednesday, June 17, 2020 - 2:36:07 PM
Contributor : Josiane Dartron Connect in order to contact the contributor
Submitted on : Monday, March 16, 2020 - 3:55:52 PM
Last modification on : Thursday, November 18, 2021 - 3:54:13 AM
Long-term archiving on: : Wednesday, June 17, 2020 - 2:36:07 PM
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