A decentralized NMPC flocking controller is extended with point-cloud-based obstacle avoidance that filters and downsamples sensor data, and is shown to run in real time on Raspberry Pi 4 in simulation and HIL.
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Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments
A decentralized NMPC flocking controller is extended with point-cloud-based obstacle avoidance that filters and downsamples sensor data, and is shown to run in real time on Raspberry Pi 4 in simulation and HIL.