arxivcs.ROmath.OC2026-07-18
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng, Kaveh Akbari Hamed
This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The proposed approach models the robotic team and the shared payload as a dynamically coupled networked sy…