Abstract
This research work investigates a coordinated multi-agent path planning and tracking method. The solution of a pre-processed dynamic scheduling problem performs target assignment and provides optimal starting times and paths for each agent. Afterwards, a linear model predictive controller ensures robust and fast path tracking while preventing agents from collisions. This task is formulated as a discretized quadratic programming (QP) problem and is solved using an in-house developed semi-smooth Newton method. Numerical experiments have demonstrated the efficiency of the approach.
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