A Simple Demonstrator for Multi-agent Circular Formation Control With Collision Avoidance Using Distributed Model Predictive Control

作     者：Kim, Seongheon Pimentel, Guilherme Araujo Kim, Yoonsoo Vande Wouwer, Alain 

作者机构：Gyeongsang Natl Univ Grad Sch Mech & Aerosp Engn Jinju 52828 South Korea Univ Mons Syst Estimat Control & Optimizat SECO B-7000 Mons Belgium 

出 版 物：《INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS》 (Int. J. Control Autom. Syst.)

年 卷 期：2025年第23卷第2期

页      面：360-369页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：Korea AeroSpace Administration (Future Space Education Center) [RS-2022-NR067079] 

主　　题：Circular formation problem collision avoidance distributed model predictive control multi-agent control 

摘      要：This paper presents the development of a didactic robotic demonstrator to study the circular formation problem (CFP) of multi-agent systems based on distributed model predictive control (DMPC). CFP can arise in various fields, such as robotics, drones, and space applications. This study proposes a method for multiple agents to sequentially enter a circular orbit, one by one, and move along the orbit at a predefined speed while maintaining a desirable distance from each other. Due to the advantages of DMPC, the proposed method allows each agent to independently generate control inputs while considering various types of constraints related to collision avoidance with the other agents. The methodology is tested and validated with three differential drive robots, i.e., Turtlebots.