5 papers
Distributed Model Predictive Control with Connectivity-based Contracts
Jorit Geurts, Danilo Saccani, Melanie N. Zeilinger +1
Teams of mobile robots rely on continuous communication with their neighbors for coordination, yet most distributed model predictive control (DMPC) schemes assume the communication…
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
Sabrina Bodmer, Danilo Saccani, Melanie N. Zeilinger +1
A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cann…
Homothetic tube model predictive control with multi-step predictors
Danilo Saccani, Giancarlo Ferrari-Trecate, Melanie N. Zeilinger +1
We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard…
Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology
Danilo Saccani, Lorenzo Fagiano, Melanie N. Zeilinger +1
In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints th…
Multi-agent Distributed Model Predictive Control with Connectivity Constraint
Andrea Carron, Danilo Saccani, Lorenzo Fagiano +1
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous envir…