Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming

This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised differential drive robots. We propose multirate hierarchical control structure that employs planner based on robust Model Predictive Control (MPC) mixed-integer programming (MIP) encoding. The computes assigns each element group in real-time, while also guaranteeing communication network MAS to be robustly connected at all times. Additionally, we provide data-based methodology estimate disturbances sets required by MPC formulation. results are demonstrated experiments two obstacle-filled scenarios