Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations
<|reference_start|>Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations: This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each sampling step via a stabilizing decentralized real-time iteration scheme using the alternating direction method of multipliers. The efficient implementation does not require a central coordinator, executes onboard the hovercraft, and facilitates sampling intervals in the millisecond range. The formation control experiments showcase the flexibility of the approach on scenarios with point-to-point transitions, trajectory tracking, collision avoidance, and moving obstacles.<|reference_end|>
@article{stomberg2024cooperative,
    title={Cooperative distributed model predictive control for embedded systems:
  Experiments with hovercraft formations},
    author={G"osta Stomberg, Roland Schwan, Andrea Grillo, Colin N. Jones and
  Timm Faulwasser},
    journal={arXiv preprint arXiv:2409.13334},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.13334},
    primaryClass={cs.RO cs.SY eess.SY math.OC}
}