Abstract
In this paper, we combine an quantised communication approach for a distributed system consisting of holonomic robots with the set characterization to further reduce the communication load. To ensure collision avoidance among the robots, the trajectory is quantised and incorporated into a distributed model predictive control scheme. Combining this quantised approach with the set characterization to communicate only the lower and upper bound, the communication load is independent of the necessary horizon length while numerical results still show that target states are reached.
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Sprodowski, T., Zha, Y., Pannek, J. (2018). Interval Superposition Arithmetic Inspired Communication for Distributed Model Predictive Control. In: Freitag, M., Kotzab, H., Pannek, J. (eds) Dynamics in Logistics. LDIC 2018. Lecture Notes in Logistics. Springer, Cham. https://doi.org/10.1007/978-3-319-74225-0_44
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DOI: https://doi.org/10.1007/978-3-319-74225-0_44
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