Formation control and collision avoidance of unicycle robots with distributed predictive control

In this paper we focus on formation control of a fleet of small -size unicycle vehicles with a distributed control scheme. We propose an approach based on a multi -level distributed predictive control (DPC) scheme, which also provides inter -robot and obstacle collision avoidance guarantees and, at the same time, requires the solution to a quadratic optimization problem, involving a limited computational burden. A real application example is illustrated, showing the effectiveness of the proposed control scheme.