We present a distributed model predictive control (DMPC) algorithm to generate trajectories
in real-time for multiple robots. We adopted the on-demand collision avoidance method …

This letter introduces a novel algorithm for multiagent offline trajectory generation based on
distributed model predictive control. Central to the algorithm's scalability and success is the …

Communication delays can be catastrophic for multiagent systems. However, most existing
state-of-the-art multiagent trajectory planners assume perfect communication and therefore …

Formation flight has a vast potential for aerial robot swarms in various applications.
However, the existing methods lack the capability to achieve fully autonomous large-scale …

This work presents a distributed method for multi-robot coordination based on nonlinear
model predictive control (NMPC) and dual decomposition. Our approach allows the robots to …

Multicopter swarms with decentralized structure possess the nature of flexibility and
robustness, while efficient spatial-temporal trajectory planning still remains a challenge. This …

In this paper, we present a distributed algorithm to generate collision-free trajectories for a
group of quadrotors flying through a common workspace. In the setup adopted, each vehicle …

We utilize the alternating direction method of multipliers (ADMM) to devise a communication
and control protocol for fully decentralized coordination of moving agents. In particular, we …

For aerial swarms, navigation in a prescribed formation is widely practiced in various
scenarios. However, the associated planning strategies typically lack the capability of …

Challenges in motion planning for multiple quadrotors in complex environments lie in overall
flight efficiency and the avoidance of obstacles, deadlock, and collisions among themselves …