Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles
P. Flüs, und O. Stursberg.
Proc. of the 22nd IFAC World Congress Volume 56 (Issue 2): 10155-10161 (2023)

This paper proposes a method to control a class of multi-agent systems with uncertainties modeled as stochastic processes with arbitrary probability distributions. The considered control problem is to lead a formation of agents through a space which is partially obstructed by obstacles. The proposed solution is to use a hierarchically structured approach of distributed stochastic model predictive control (DSMPC). The approach combines elements of formation reference structures, leader-follower concepts, and successive convexification (SC) for collision avoidance. To consider the stochastic uncertainties, over-approximated probabilistic reachable sets (PRS) are computed based on Chebyshev's inequality. The nominal (expected) agent behavior is optimized within the DSMPC such that (probabilistic) constraints are satisfied in a distributed way. For the overall approach, closed-loop stability of the distributed control concept is investigated and an illustrating example is provided.

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@article{flus2023distributed,
  abstract = {This paper proposes a method to control a class of multi-agent systems with uncertainties modeled as stochastic processes with arbitrary probability distributions. The considered control problem is to lead a formation of agents through a space which is partially obstructed by obstacles. The proposed solution is to use a hierarchically structured approach of distributed stochastic model predictive control (DSMPC). The approach combines elements of formation reference structures, leader-follower concepts, and successive convexification (SC) for collision avoidance. To consider the stochastic uncertainties, over-approximated probabilistic reachable sets (PRS) are computed based on Chebyshev's inequality. The nominal (expected) agent behavior is optimized within the DSMPC such that (probabilistic) constraints are satisfied in a distributed way. For the overall approach, closed-loop stability of the distributed control concept is investigated and an illustrating example is provided.},
  added-at = {2023-05-05T12:13:58.000+0200},
  author = {Flüs, P. and Stursberg, O.},
  biburl = {https://puma.uni-kassel.de/bibtex/22cd0138f1a4936e5143c16df439c6588/00965820},
  doi = {https://doi.org/10.1016/j.ifacol.2023.10.890},
  interhash = {62aa14ef15ed5d70f97cc177c44c8cac},
  intrahash = {2cd0138f1a4936e5143c16df439c6588},
  journal = {Proc. of the 22nd IFAC World Congress},
  keywords = {control isac-www},
  number = {Issue 2},
  pages = {10155-10161},
  timestamp = {2023-12-15T13:32:25.000+0100},
  title = {Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles},
  url = {https://www.sciencedirect.com/science/article/pii/S2405896323012715},
  volume = {Volume 56},
  year = 2023
}

%0 Journal Article
%1 flus2023distributed
%A Flüs, P.
%A Stursberg, O.
%D 2023
%J Proc. of the 22nd IFAC World Congress
%K control isac-www
%N Issue 2
%P 10155-10161
%R https://doi.org/10.1016/j.ifacol.2023.10.890
%T Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles
%U https://www.sciencedirect.com/science/article/pii/S2405896323012715
%V Volume 56
%X This paper proposes a method to control a class of multi-agent systems with uncertainties modeled as stochastic processes with arbitrary probability distributions. The considered control problem is to lead a formation of agents through a space which is partially obstructed by obstacles. The proposed solution is to use a hierarchically structured approach of distributed stochastic model predictive control (DSMPC). The approach combines elements of formation reference structures, leader-follower concepts, and successive convexification (SC) for collision avoidance. To consider the stochastic uncertainties, over-approximated probabilistic reachable sets (PRS) are computed based on Chebyshev's inequality. The nominal (expected) agent behavior is optimized within the DSMPC such that (probabilistic) constraints are satisfied in a distributed way. For the overall approach, closed-loop stability of the distributed control concept is investigated and an illustrating example is provided.

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Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles
P. Flüs, und O. Stursberg.
Proc. of the 22nd IFAC World Congress Volume 56 (Issue 2): 10155-10161 (2023)

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Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and ObstaclesP. Flüs, und O. Stursberg. Proc. of the 22nd IFAC World Congress Volume 56 (Issue 2): 10155-10161 (2023)

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Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles
P. Flüs, und O. Stursberg.
Proc. of the 22nd IFAC World Congress Volume 56 (Issue 2): 10155-10161 (2023)