{"type":"ScholarlyArticle","title":"Hierarchical Model Predictive Control for Multi-Robot Navigation","authors":[{"name":"Chao Huang","slug":"chao-huang","given":"Chao","family":"Huang","affiliation":""},{"name":"Xin Chen","slug":"xin-chen","given":"Xin","family":"Chen","affiliation":""},{"name":"Yifan Zhang","slug":"yifan-zhang-2","given":"Yifan","family":"Zhang","affiliation":""},{"name":"Shengchao Qin","slug":"shengchao-qin","given":"Shengchao","family":"Qin","affiliation":""},{"name":"Yifeng Zeng","slug":"yifeng-zeng","given":"Yifeng","family":"Zeng","affiliation":""},{"name":"Xuandong Li","slug":"xuandong-li","given":"Xuandong","family":"Li","affiliation":""}],"abstract":"Ensuring the stability is the most important requirement for the navigation control of multi-robot systems with no reference trajectory. The popular heuristic-search methods cannot provide theoretical guarantees on stability. In this paper, we propose a Hierarchical Model Predictive Control scheme that employs reachable sets to decouple the navigation problem of linear dynamical multi-robot systems. The proposed control scheme guarantees the stability and feasibility, and is more efficient and viable than other Model Predictive Control schemes, as evidenced by our simulation results.","doi":null,"url":"https://ijcai.org/proceedings/2016/445","pdf":"https://ijcai.org/proceedings/2016/0445.pdf","markdown":"https://ijcai.org/proceedings/2016/445.md","bibtex":"https://ijcai.org/proceedings/2016/bibtex/445","volume":{"slug":"2016","title":"Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2016","url":"https://ijcai.org/proceedings/2016/","year":2016,"location":"New York, NY, USA","dates":"9–15 July 2016","editors":"Subbarao Kambhampati","isbn":"978-1-57735-770-4; 978-1-57735-771-1","publisher":"AAAI Press / International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":445,"pages":{"first":3140,"last":3145},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}