Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning

This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...

Fault-tolerant reference generation for model predictive control with active diagnosis of elevator jamming faults

This paper focuses on the longitudinal control of an Airbus passenger aircraft in the presence of elevator jamming faults. In particular, in this paper, we address permanent and temporary actuator jamming faults using a novel reconfigurable fault-tolerant predictive control design. Due to their different consequences on the available control...