Abstract
This paper addresses the reference tracking problem subject to formation constraints for a group of unmanned vehicles. A scheme based on receding horizon control ideas has been developed, whose the main feature consists in avoiding the need to explicitly impose non-convex constraints in the underlying optimization problem. The latter has been achieved by exploiting the properties provided by a novel description of the kinematic evolution when the agents are organized as a swarm. Numerical simulations on a team of five agents described by double integrator models are presented to show the effectiveness of the proposed control architecture.
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