AllgemeinHierarchical Distributed Formation Tracking of a Moving Target with Consensus-based Position Assignments and MPC
Motivation Consider a group of autonomous agents (e.g., mobile robots or UAVs) tasked with tracking an unknown moving target while maintaining a prescribed formation around this target. The target motion is not known a priori and may change rapidly over time. Additionally, communication between agents is restricted, and control and collision avoidance constraints must be […]Motivation Consider a group of autonomous agents (e.g., mobile robots or UAVs) tasked with tracking an unknown moving target while maintaining a prescribed formation around this target. The target motion is not known a priori and may change rapidly over time. Additionally, communication between agents is restricted, and control and collision avoidance constraints must be […]
