A Distributed Dual Decomposition Optimization Approach for Coordination of Networked Mobile Robots with Communication Delay

摘要

In this contribution, a model predictive control notion is employed to design distributed controllers to coordinate motions of a group of mobile robots where are connected through information delaying communication network. The parameterized control law is used for the model predictive control problem which is solved via a distributed dual decomposition scheme. Each agent simulates its neighbors’ dynamics into the future based on most recently received data to guess the required information of adjacent agents. Simulation results are provided to illustrate that the performance of the system is improved by the introduced approach.