2026-04-17T05:15:13Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/4279242026-01-21T10:23:25Zcom_2072_1033col_2072_452950

urn:hdl:2117/427924 Non-linear distributed MPC coordination of autonomous vehicles using optimality condition decomposition Facerías Pelegrí, Marc Puig Cayuela, Vicenç Stancu, Alexandru Àrees temàtiques de la UPC::Enginyeria mecànica::Automoció Àrees temàtiques de la UPC::Informàtica::Automàtica i control Accuracy Navigation Computational modeling Layout Collaboration Europe Real-time systems © 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. 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. Postprint (author's final draft) 2024 Conference report https://ieeexplore.ieee.org/document/10591303 Open Access Institute of Electrical and Electronics Engineers (IEEE)