---
title: "Hierarchical Model Predictive Control for Multi-Robot Navigation"
authors:
  - "Chao Huang"
  - "Xin Chen"
  - "Yifan Zhang"
  - "Shengchao Qin"
  - "Yifeng Zeng"
  - "Xuandong Li"
doi: ""
url: "https://ijcai.org/proceedings/2016/445"
pdf: "https://ijcai.org/proceedings/2016/0445.pdf"
venue: "Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence"
year: 2016
pages: "3140-3145"
track: ""
keywords:
---

# Hierarchical Model Predictive Control for Multi-Robot Navigation

Chao Huang, Xin Chen, Yifan Zhang, Shengchao Qin, Yifeng Zeng, Xuandong Li

*Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence*, pages 3140-3145.

## 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.