Model Predictive Control for Cooperative Transportation with Feasibility-Aware Policy

Model Predictive Control for Cooperative Transportation with Feasibility-Aware Policy

The transportation of large payloads can be made possible with Multi-Robot Systems (MRS) implementing cooperative strategies. In this work, we focus on the coordinated MRS trajectory planning task exploiting a Model Predictive Control (MPC) framework addressing both the acting robots and the transpo...

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Bibliographic Details
Main Authors: Badr Elaamery, Massimo Pesavento, Teresa Aldovini, Nicola Lissandrini, Giulia Michieletto, Angelo Cenedese
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Robotics
Subjects:
multi-robot systems
cooperative transportation
model predictive control
leader–follower architecture
Online Access:https://www.mdpi.com/2218-6581/10/3/84

Internet

https://www.mdpi.com/2218-6581/10/3/84

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