Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments

arXiv:2505.09434 · cs.RO, cs.SY, eess.SY · Submitted 2025-05-14 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2025-05-14

Updated: 2025-05-15

Comments: 22 pages, 14 figures, to be published in Frontiers in Robotics and AI

Journal ref: Frontiers in Robotics and AI, 12:1540808, 2025

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Point Clouds — 11× in this paper · explained in 2 episodes
Point Cloud Data — 10× in this paper · explained in 2 episodes
Alignment — 9× in this paper · explained in 1 episode
Objective Function — 5× in this paper · explained in 2 episodes
Core — 4× in this paper · explained in 2 episodes
Multi-Agent System — 4× in this paper · explained in 5 episodes
Nonlinear Model Predictive Control (NMPC) — 3× in this paper · explained in 3 episodes
Robot Operating System — 2× in this paper
Benchmark — 1× in this paper · explained in 2 episodes
Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
In IEEE Conference on Decision and Control — 1× in this paper
Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
PID Controller — 1× in this paper · explained in 2 episodes
Robustness — 1× in this paper · explained in 5 episodes
System Identification — 1× in this paper · explained in 3 episodes