Generic Multi-agent Cooperative Control via Finite-time Distributed MPC

This paper introduces a generic multi-agent cooperative control framework using finite-time distributed model predictive control, which applies to multiple types and heterogeneous multi-agent systems with directed topology. We design a detect and avoid collisions strategy using the prediction trajectory of agents, and the agents can safely move toward their goals. The formation time upper bound of multi-agents achieves consensus are derived with given connected communication topology. Numerical simulations validated the feasibility and effectiveness of the proposed approach.