NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments
Amir Salimi Lafmejani,Spring Berman,Georgios Fainekos,Amir Salimi Lafmejani,Spring Berman,Georgios Fainekos
In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown environments with static and/or dynamic obstacles. This method incorporates a Learned Barrier Function (LBF) into the NMPC design in order to guarantee safe robot naviga...
