@incollection{eprints1254,
       booktitle = {Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)},
          author = {Alberto Bemporad and Claudio Rocchi},
            note = {This work was partially supported by the European Space Agency through project ?ROBMPC ? Robust Model Predictive Control for Space Constrained Systems"},
       publisher = {IEEE},
            year = {2011},
           title = {Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles},
           pages = {7488 --7493},
           month = {December},
             url = {http://eprints.imtlucca.it/1254/},
        abstract = {This paper proposes a hierarchical MPC approach to stabilization and autonomous navigation of a formation of unmanned aerial vehicles (UAVs), under constraints on motor thrusts, angles and positions, and under collision avoidance constraints. Each vehicle is of quadcopter type and is stabilized by a local linear time-invariant (LTI) MPC controller at the lower level of the control hierarchy around commanded desired set-points. These are generated at the higher level and at a slower sampling rate by a linear time-varying (LTV) MPC controller per vehicle, based on an a simplified dynamical model of the stabilized UAV and a novel algorithm for convex under-approximation of the feasible space. Formation flying is obtained by running the above decentralized scheme in accordance with a leader-follower approach. The performance of the hierarchical control scheme is assessed through simulations, and compared to previous work in which a hybrid MPC scheme is used for planning paths on-line.},
        keywords = {autonomous aerial vehicles , collision avoidance , decentralised control, linear systems, motion control, predictive control, sampling methods, stability, time-varying systems }
}