<> "The repository administrator has not yet configured an RDF license."^^ . <> . . . "Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles"^^ . "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."^^ . "2011-12" . . "IEEE"^^ . . "IEEE"^^ . . . . . . . . . . . "Claudio"^^ . "Rocchi"^^ . "Claudio Rocchi"^^ . . "Alberto"^^ . "Bemporad"^^ . "Alberto Bemporad"^^ . . . . "Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on"^^ . . . . . "HTML Summary of #1254 \n\nDecentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles\n\n" . "text/html" . . . "QA75 Electronic computers. Computer science"@en . . . "TL Motor vehicles. Aeronautics. Astronautics"@en . .