Distributed predictive control for formation of networked mobile robots

This paper presents a novel distributed model predictive controller (MPC) to reach formation in a team of mobile robots which are connected via data delaying communication network. The parameters of the control laws are determined online by a distributed optimization algorithm in which each robot searches the optimum of a global cost function using its local information and delayed data received from the neighbors. Simulation results are given to illustrate the efficiency of the proposed approach.