Research Article
Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss
Algorithm 1
Delay-free DMPC.
Given and initial condition of vehicle , do: | (1) . | (2) Measure and update the information set based on (4). | (3) Solve and predict the control and state trajectories and . | (4) Send the predicted state trajectory to all followers (where ). | (5) Apply the control action to vehicle . | (6) Receive the trajectory from leader(s) (where ). | (7) . GOTO step 2. |
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