Incorporating Control Barrier Functions in Distributed Model Predictive Control for Multirobot Coordinated Control
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS（2024）
关键词
Robots,Collision avoidance,Robot kinematics,Mobile robots,Safety,Trajectory optimization,Predictive control,Alternating direction method of multipliers (ADMM),control barrier functions (CBF),distributed model predictive control (DMPC),multirobot coordinated control
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