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math.OC2026
Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems
Max Studt, Georg Schildbach
This paper considers decentralized contingency MPC for multi-agent control under a state-only information pattern, with particular focus on limited sensing and plug-and-play operat…
math.OC2026
Decentralized Contingency MPC based on Safe Sets for Nonlinear Multi-agent Collision Avoidance
Max Studt, Georg Schildbach
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either…