Multi-Stage NMPC for a MAV based Collision Free Navigation Under Varying Communication Delays

Abstract Time delays in communication networks are one of the main concerns deploying robots with computation boards on edge. This article proposes a multi-stage Nonlinear Model Predictive Control (NMPC) that is capable handling varying network-induced time for establishing control framework being able to guarantee collision-free Micro Aerial Vehicles (MAVs) navigation. study introduces novel approach considers different sampling times by tree discretization scenarios contrary existing typical NMPC where system uncertainties modeled scenarios. Additionally, proposed method adaptive weights based probability link. As result NMPC, obtained optimal action valid multiple times. Finally, overall effectiveness demonstrated various tests and simulation environments.