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August 14, 2025

Motion Planning and Tracking MPC for Multiagent Systems: A Dynamic Affine Formation Approach.

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Authors

ZDZhixu DuHZHao ZhangZWZhuping Wang

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Overview

Proposed method improves affine formation adjustment in multiagent systems, enhancing collision avoidance and system stability.

Key Points

  • Dynamic adjustment of affine transformation parameters enhances self-reconfiguration in multiagent systems.
  • The method utilizes APF environment excitation for real-time formation shape modification, optimizing collision avoidance.
  • A distributed model predictive controller effectively uses historical input information to improve performance while avoiding loops.
  • Simulation results validate the controller's effectiveness in managing nonlinear dynamics and ensuring stability.

Cite This Study

Du et al. (2025) studied this question.

synapsesocial.com/papers/689fc6912abb084d53ed2683https://doi.org/10.1109/tcyb.2025.3591372
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  4. 4Affine Formation Obstacle Avoidance Control for Multi‐Agent Systems Under an Improved Disturbance Observer2026
  5. 5Adaptive event-triggered method to affine formation maneuver control of multi-agent systems with external disturbances2025