Formation adaptation in obstacle-cluttered environments via MPC-based trajectory planning  

作　　者：Yuda CHEN Zhongkui LI 

机构地区：[1]Department of Mechanics and Engineering Science,College of Engineering,Peking University,Beijing 100871,China

出　　处：《Science China(Information Sciences)》2024年第7期317-319,共3页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China(Grant Nos.U2241214,62373008,T2121002).

摘　　要：Formation is a typical collective behavior in multiagent systems utilized in areas such as inspection,surveillance,and transportation.Commonly-used approaches to achieve formation include virtual structure^([1]),consensus-based^([2,3]),affine formation^([4,5]),and optimization-based methods^([6]).

关 键 词：OBSTACLE environments COLLECTIVE 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]