Danilo Saccani

Anytime Plug-and-Play Control with Contract-Based Distributed MPC

Sabrina Bodmer, Danilo Saccani, Melanie N. Zeilinger, Andrea Carron

A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cannot generally be restricted a priori. This work introduces a distributed multi-agent control algorith…Read more