# Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming

arXiv: https://arxiv.org/abs/2206.00097 · HTML: https://mlsanity.com/paper/2206.00097/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 May 2022.

## Built on by (most cited first, 2 of 2)

- [Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios](https://mlsanity.com/paper/2310.17381/) (2023)
- [ARMCHAIR: integrated inverse reinforcement learning and model predictive control for human-robot collaboration](https://mlsanity.com/paper/2402.19128/) (2024)

## Abstract (arXiv)

This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based on robust Model Predictive Control (MPC) with mixed-integer programming (MIP) encoding. The planner computes trajectories and assigns tasks for each element of the group in real-time, while also guaranteeing the communication network of the MAS to be robustly connected at all times. Additionally, we provide a data-based methodology to estimate the disturbances sets required by the robust MPC formulation. The results are demonstrated with experiments in two obstacle-filled scenarios