| Full text | |
| Author(s): |
Total Authors: 3
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| Affiliation: | [1] Tech Univ Munich, Inst Flight Syst Dynam, Dept Aerosp & Geodesy, Bavaria - Germany
[2] Inst Tecnol Aeronaut, Elect Engn Div, Sao Paulo - Brazil
[3] Inst Tecnol Aeronaut, Autonomous Computat Syst Lab LAB SCA, Div Comp Sci, Sao Paulo - Brazil
Total Affiliations: 3
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| Document type: | Journal article |
| Source: | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL; v. 30, n. 14 JUL 2020. |
| Web of Science Citations: | 0 |
| Abstract | |
This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and avoiding obstacle as well as interagent collisions. The tool to cope with the problem is a formulation of model predictive control including binary decision variables. In this regard, two mixed-integer linear programming formulations are presented, considering a trade-off between optimality and scalability between them. Simulation results are also shown to illustrate the main features of the proposed approaches. (AU) | |
| FAPESP's process: | 16/03647-3 - Development and Implementation of Walking Algorithms for Humanoid Robots |
| Grantee: | Rubens Junqueira Magalhães Afonso |
| Support Opportunities: | Regular Research Grants |