Existing motion planning algorithms for multi-robot systems must be improved to address
poor coordination and increase low real-time performance. This paper proposes a new …

This article studies the cooperative path-following control problem for a group of unmanned
surface vessels (USVs) which requires the vessels to track a predefined path while keeping …

The paper considers the problem of formation path-following of multiple vehicles and
proposes a solution based on combining distributed model predictive control with …

The article proposes a convex distributed robust model predictive control algorithm for
collision avoidance in multi‐agent systems with additive disturbances, which utilizes the …

Koopman operators can be used to lift nonlinear dynamics into a higher dimensional space
to obtain a linear model with nonlinear basis functions. They have proven particularly …

In this paper, we propose a safety-critical formation control method based on distributed
nonlinear model predictive control strategy, which controls the path following and formation …

This paper proposes a formation and collision avoidance method for heterogeneous swarm
consisting of Unmanned Aerial Vehicles (UAVs) with variable detection abilities. First of all …

This thesis investigates various control algorithms for marine vehicles. Most of the algorithms
proposed in the thesis address the formation path-following problem for a fleet of …

The collision avoidance formation navigation problem of multiple rectangle-shaped agents
is considered in this paper and a distributed model predictive control (MPC) framework is …