# An optimization-based cooperative path-following framework for multiple robotic vehicles

## TL;DR

This paper introduces an optimization-based distributed control framework for multiple robotic vehicles that balances path-following accuracy and coordination, ensuring convergence and effective cooperation in a networked environment.

## Contribution

It presents a novel multi-agent model predictive control scheme combining path-following and consensus objectives with convergence guarantees.

## Key findings

- Effective cooperative path following demonstrated in simulations
- Balances transient coordination and path errors optimally
- Guarantees convergence to desired coordinated behavior

## Abstract

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we formulate a more general multi-agent framework where each agent is associated with (i) a continuous-time dynamical model, which governs the evolution of its state, and (ii) an output equation that is a function of both the state of the agent and a coordination vector. According to a given network topology, each agent can access its state and coordination vector, as well as the coordination vectors of the neighboring agents. In this setup, the goal is to design a distributed control law that steers the output signals to the origin, while simultaneously driving the coordination vectors of the agents of the network to consensus. To solve this, we propose a model predictive control scheme that builds on a pre-existing auxiliary consensus control law to design a performance index that combines the output regulation objective with the consensus objective. Convergence guarantees under which one can solve this coordinated output regulation problem are provided. Numerical simulations display the effectiveness of the proposed scheme applied to a cooperative path following control problem of a network of 3D nonholonomic robotic vehicles.