arxivcs.RO2026-07-22
Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao, Wilm Decre, Jan Swevers, Carlo Ratti, et al.
Aquatic self-reconfigurable robots must assemble into desired shapes while ensuring safe interactions among multiple agents. This paper proposes a hybrid framework that combines distributed Model Predictive Control (MPC) with Control Barrier Functions (CBFs) for multi-agent shape…