# Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations

arXiv: https://arxiv.org/abs/2409.13334 · HTML: https://mlsanity.com/paper/2409.13334/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Sep 2024.

## Built on by (most cited first, 1 of 1)

- [Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs](https://mlsanity.com/paper/2608.17592/) (2026)

## Abstract (arXiv)

This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each sampling step via a stabilizing decentralized real-time iteration scheme using the alternating direction method of multipliers. The efficient implementation does not require a central coordinator, executes onboard the hovercraft, and facilitates sampling intervals in the millisecond range. The formation control experiments showcase the flexibility of the approach on scenarios with point-to-point transitions, trajectory tracking, collision avoidance, and moving obstacles.