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de Groot, O.M. (author), Valk, Laurens (author), Keviczky, T. (author)In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types. The underlying passivity property of our control approaches ensures that cooperation is...journal article 2023
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Ferranti, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)This work presents a method for multi-robot trajectory planning and coordination based on nonlinear model predictive control (NMPC). In contrast to centralized approaches, we consider the distributed case where each robot has an on-board computation unit to solve a local NMPC problem and can communicate with other robots in its neighborhood. We...conference paper 2018