Cooperative control of networked autonomous vehicles using convex optimization

In this paper a distributed, mathematical and optimization-based planning problem is introduced to control motion of multiple vehicles as a team which are connected to each other by a communication network. This framework is defined based on a Linear Time Varying Model Predictive Control (LTV-MPC). To do so, we define linear time varying constraints to cover obstacle avoidance and maintain connectivity missions as a multi criteria optimization problem. The final proposed MPC problem is converted to a real time convex optimization problem by some definitions and simplifying methods.