A distributed MPC framework steers multiple agents' outputs to the origin while driving coordination vectors to consensus, with convergence guarantees.
Safe coordi- nated maneuvering of teams of multirotor unmanned aerial vehicles: A cooperative control framework for multivehicle, time-critical missions
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An optimization-based cooperative path-following framework for multiple robotic vehicles
A distributed MPC framework steers multiple agents' outputs to the origin while driving coordination vectors to consensus, with convergence guarantees.