Event-Triggered Polynomial Model Predictive Control for Multi-Agent Navigation

Title

Event-Triggered Polynomial Model Predictive Control for Multi-Agent Navigation

Creator

Harini, V.; Rajan, Anusree; Tallapragada, Pavankumar

Description

This paper proposes an event-triggered polynomial model predictive control method for collision-free point-to-point multi-agent navigation. In this control method, each control input to each agent is a polynomial whose coefficients are updated in an event-triggered manner. For each agent, we design an event-triggering rule that guarantees non-Zeno behavior of inter-event times. At each event, the controller updates the coefficients of the polynomial control law corresponding to a subset of agents by solving one or more finite horizon optimization problems. We also ensure feasibility of the optimization problems solved at each event. Through numerical simulations, we illustrate the results and compare the proposed method with other existing methods. 2025 IEEE.

Source

2025 11th Indian Control Conference, ICC 2025 - Proceedings;pp.210-215

Date

01-01-2025

Publisher

Institute of Electrical and Electronics Engineers Inc.

Coverage

Harini V., Cyber Physical Systems, Indian Institute of Science, Bengaluru, India; Rajan A., Department of Electrical and Electronics Engineering, Christ University, Bengaluru, India; Tallapragada P., Cyber Physical Systems, Indian Institute of Science, Bengaluru, India

Rights

Restricted Access; Hardcopy may be available in the library

Relation

ISBN: 979-833157208-2;

Format

online

Language

English

Type

Conference paper

Identifier

https://doi.org/10.1109/ICC69100.2025.11372432

https://www.scopus.com/pages/publications/105034732071?origin=resultslist