Multi-Agent Spatial Predictive Control with Application to Drone Flocking
Andreas Brandstätter,Scott A. Smolka,Scott D. Stoller,Ashish Tiwari,Radu Grosu,Andreas Brandstätter,Scott A. Smolka,Scott D. Stoller,Ashish Tiwari,Radu Grosu
We introduce Spatial Predictive Control (SPC), a technique for solving the following problem: given a collection of robotic agents with black-box positional low-level controllers (PLLCs) and a mission-specific distributed cost function, how can a distributed controller achieve and maintain cost-function minimization without a plant model and only positional observations of the environment? Our ful...
