Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming

Angelo Caregnato-Neto, Marcos Ricardo Omena de Albuquerque Maximo, Rubens Junqueira Magalhães Afonso

This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate h…