dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.contributor.author
Facerías Pelegrí, Marc
dc.contributor.author
Puig Cayuela, Vicenç
dc.contributor.author
Stancu, Alexandru
dc.identifier
Facerias, M.; Puig, V.; Stancu, A. Non-linear distributed MPC coordination of autonomous vehicles using optimality condition decomposition. A: European Control Conference. "2024 European Control Conference (ECC): 25-28 June 2024". Institute of Electrical and Electronics Engineers (IEEE), 2024, p. 705-710. ISBN 978-3-907144-10-7. DOI 10.23919/ECC64448.2024.10591303 .
dc.identifier
978-3-907144-10-7
dc.identifier
https://hdl.handle.net/2117/427924
dc.identifier
10.23919/ECC64448.2024.10591303
dc.description.abstract
© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstract
In this paper, a novel non-linear distributed MPC coordination scheme for autonomous vehicles based on the Optimality Condition Decomposition (OCD) algorithm is proposed. As result, a local planner for each vehicle is obtained via the OCD application to the MPC coordination scheme is obtained for each vehicle, providing realistic paths to be executed in a collaborative manner. The proposed approach is able to determine paths that consider both individual goals and the environment so that agents can collaborate to safely navigate the studied environment. A case study in a ROS simulation environment is used to assess the validity of the proposed approach for real-time implementation.
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
dc.relation
https://ieeexplore.ieee.org/document/10591303
dc.subject
Àrees temàtiques de la UPC::Enginyeria mecànica::Automoció
dc.subject
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject
Computational modeling
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Real-time systems
dc.title
Non-linear distributed MPC coordination of autonomous vehicles using optimality condition decomposition
dc.type
Conference report
