Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach
<|reference_start|>Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach: This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while followers track the leader's pose with an inter-agent delay. First, the leader and the follower kinematic models are feedback linearized and the platoon's error dynamics and input constraints characterized. Then, a set-theoretic model predictive control strategy is proposed to address the platooning trajectory tracking control problem. An ad-hoc collision avoidance policy is also proposed to guarantee collision avoidance amongst the agents. Finally, the effectiveness of the proposed control architecture is validated through experiments performed on a formation of Khepera IV differential drive robots<|reference_end|>
@article{rajkumar2024collision-free,
    title={Collision-Free Platooning of Mobile Robots through a Set-Theoretic
  Predictive Control Approach},
    author={Suryaprakash Rajkumar, Cristian Tiriolo, and Walter Lucia},
    journal={arXiv preprint arXiv:2403.08942},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.08942},
    primaryClass={cs.RO cs.SY eess.SY}
}