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Real-Time Reconfiguration and Connectivity Maintenance for AUVs Network Under External Disturbances using Distributed Nonlinear Model Predictive Control
In this work, we propose a novel control scheme for creating multi-agent distributed formation control with limited communication between individual agents.
Safety-critical model predictive control with control barrier function for dynamic obstacle avoidance
We formulate the control synthesis problem as an optimal control problem that enforces control barrier function (CBF) constraints to achieve obstacle avoidance.
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