Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments

arXiv:2505.09434 · cs.RO, cs.SY, eess.SY · Submitted 2025-05-14 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2025-05-14

Updated: 2025-05-15

Code: https://github.com/husky/husky

Terminology

• Point Clouds — 11× in this paper · explained in 2 episodes
• Point Cloud Data — 10× in this paper · explained in 2 episodes
• Alignment — 9× in this paper · explained in 1 episode
• Objective Function — 5× in this paper · explained in 2 episodes
• Core — 4× in this paper · explained in 2 episodes
• Multi-Agent System — 4× in this paper · explained in 5 episodes
• Nonlinear Model Predictive Control (NMPC) — 3× in this paper · explained in 3 episodes
• Robot Operating System — 2× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• In IEEE Conference on Decision and Control — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range

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