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Predictive control for trajectory tracking and decentralized navigation of multi-agent formations

Ionela ProdanSorin OlaruCristina StoicaSilviu-Iulian Niculescu — 2013

International Journal of Applied Mathematics and Computer Science

This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and orientation of the leader. In real-time, a predictive control strategy enhanced with the potential field methodology is used in order to derive a feedback...

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