## Decentralized robust receding horizon control for multi-vehicle guidance

Citations: | 15 - 6 self |

### BibTeX

@MISC{Kuwata_decentralizedrobust,

author = {Yoshiaki Kuwata and Arthur Richards and Tom Schouwenaars and Jonathan P. How},

title = {Decentralized robust receding horizon control for multi-vehicle guidance},

year = {}

}

### OpenURL

### Abstract

Abstract — This paper presents a decentralized robust Model Predictive Control algorithm for multi-vehicle trajectory optimization. The algorithm is an extension of a previous robust safe but knowledgeable (RSBK) algorithm that uses the constraint tightening technique to achieve robustness, an invariant set to ensure safety, and a cost-to-go function to generate an intelligent trajectory around obstacles in the environment. Although the RSBK algorithm was shown to solve faster than the previous robust MPC algorithms, the approach was based on a centralized calculation that is impractical for a large group of vehicles. This paper decentralizes the algorithm by ensuring that each vehicle always has a feasible solution under the action of disturbances. The key advantage of this algorithm is that it only requires local knowledge of the environment and the other vehicles while guaranteeing robust feasibility of the entire fleet. The new approach also facilitates a significantly more general implementation architecture for the decentralized trajectory optimization, which further decreases the delay due to computation time.

### Citations

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Citation Context ...nt set, Robust Feasibility I. INTRODUCTION Model Predictive Control (MPC) or Receding Horizon Control (RHC) has been successfully applied to trajectory optimization problems for unmanned vehicles [1]–=-=[2]-=- because it can systematically handle constraints such as vehicle dynamics, flight envelope limitations, and no-fly zones. Recent research has focused on robust MPC, which is robust to external distur... |

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Citation Context ...ariant set, Robust Feasibility I. INTRODUCTION Model Predictive Control (MPC) or Receding Horizon Control (RHC) has been successfully applied to trajectory optimization problems for unmanned vehicles =-=[1]-=-–[2] because it can systematically handle constraints such as vehicle dynamics, flight envelope limitations, and no-fly zones. Recent research has focused on robust MPC, which is robust to external di... |

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Citation Context ...es the DRSBK computation. Using only local communication, DRSBK is shown to maintains the robust feasibility of the entire fleet. The algorithm generalizes the implementation approaches of Refs. [9], =-=[11]-=- to have several of the vehicles computing their trajectories simultaneously. This greatly reduces the delay incurred in the other, more rigid implementation approaches. The paper is organized as foll... |

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Citation Context ...∀(x1, . . . , xn) ∈{Q1(k) × . . . × Qn(k)}. Then, one can prove the robust feasibility, i.e. feasibility of the optimization at time k implies feasibility at time k +1 under the action of disturbance =-=[13]-=-. The RSBK algorithm parameterizes the invariant set, and by using nilpotent candidate controllers, which gives Lp(N) = 0, it can solve for a simple nominal control invariant admissible set. One simpl... |

10 |
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Citation Context ...has focused on robust MPC, which is robust to external disturbances or inherent discrepancies between the model and the real process, and numerous techniques have been proposed in the past decade [3]–=-=[4]-=-. Recent work [8] extended a new form of the constraint tightening approach in Ref. [9] to address the computational complexity of the on-line optimization. The main improvement was that the new algor... |

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Citation Context ...ancies between the model and the real process, and numerous techniques have been proposed in the past decade [3]–[4]. Recent work [8] extended a new form of the constraint tightening approach in Ref. =-=[9]-=- to address the computational complexity of the on-line optimization. The main improvement was that the new algorithm did not explicitly require that the system states reach the target over the planni... |

8 | Robust constrained receding horizon control for trajectory planning
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Citation Context ...bust MPC, which is robust to external disturbances or inherent discrepancies between the model and the real process, and numerous techniques have been proposed in the past decade [3]–[4]. Recent work =-=[8]-=- extended a new form of the constraint tightening approach in Ref. [9] to address the computational complexity of the on-line optimization. The main improvement was that the new algorithm did not expl... |

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2 | Algorithm for Robust Constrained Model Predictive Control - “Decentralized - 2004 |