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1. 1. Robust and Decentralized Control of Multi-agent Systems under High-level Tasks

   Författare :Alexandros Nikou; Dimos V. Dimarogonas; Michael Zavlanos; KTH; []
   Nyckelord :Electrical Engineering; Elektro- och systemteknik;

   Sammanfattning : Decentralized control of multi-agent systems is an active topic of research, with many practical applications arising in multi-robot systems, autonomous driving, transportation systems and robotic manipulation. The contributions of this thesis lie in the scope of three topics: formation control, robust decentralized tube-based nonlinear Model Predictive Control and time-constrained cooperative planning of multi-agent systems. LÄS MER