Special Issue: ICCAS 2024

International Journal of Control, Automation, and Systems 2025; 23(2): 360-369

https://doi.org/10.1007/s12555-024-0542-8

© The International Journal of Control, Automation, and Systems

A Simple Demonstrator for Multi-agent Circular Formation Control With Collision Avoidance Using Distributed Model Predictive Control

Seongheon Kim, Guilherme Araujo Pimentel, Yoonsoo Kim*, and Alain Vande Wouwer*

Gyeongsang National University, University ofMons

Abstract

This paper presents the development of a didactic robotic demonstrator to study the circular formation problem (CFP) of multi-agent systems based on distributed model predictive control (DMPC). CFP can arise in various fields, such as robotics, drones, and space applications. This study proposes a method for multiple agents to sequentially enter a circular orbit, one by one, and move along the orbit at a predefined speed while maintaining a desirable distance from each other. Due to the advantages of DMPC, the proposed method allows each agent to independently generate control inputs while considering various types of constraints related to collision avoidance with the other agents. The methodology is tested and validated with three differential drive robots, i.e., Turtlebots.

Keywords Circular formation problem, collision avoidance, distributed model predictive control, multi-agent control.

Article

Special Issue: ICCAS 2024

International Journal of Control, Automation, and Systems 2025; 23(2): 360-369

Published online February 1, 2025 https://doi.org/10.1007/s12555-024-0542-8

Copyright © The International Journal of Control, Automation, and Systems.

A Simple Demonstrator for Multi-agent Circular Formation Control With Collision Avoidance Using Distributed Model Predictive Control

Seongheon Kim, Guilherme Araujo Pimentel, Yoonsoo Kim*, and Alain Vande Wouwer*

Gyeongsang National University, University ofMons

Abstract

This paper presents the development of a didactic robotic demonstrator to study the circular formation problem (CFP) of multi-agent systems based on distributed model predictive control (DMPC). CFP can arise in various fields, such as robotics, drones, and space applications. This study proposes a method for multiple agents to sequentially enter a circular orbit, one by one, and move along the orbit at a predefined speed while maintaining a desirable distance from each other. Due to the advantages of DMPC, the proposed method allows each agent to independently generate control inputs while considering various types of constraints related to collision avoidance with the other agents. The methodology is tested and validated with three differential drive robots, i.e., Turtlebots.

Keywords: Circular formation problem, collision avoidance, distributed model predictive control, multi-agent control.

IJCAS
February 2025

Vol. 23, No. 2, pp. 359~682

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