Switched Linear Multi-Robot Navigation Using Hierarchical Model Predictive Control
Authors: Chao Huang, Xin Chen, Yifan Zhang, Shengchao Qin, Yifeng Zeng, Xuandong Li
IJCAI 2017 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | We present theoretical results on stability, feasibility and complexity of the proposed approach, and demonstrate its empirical advance in performance against other approaches.6 Experimental Results |
| Researcher Affiliation | Academia | 1State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China 2School of Computing, Teesside University, Tees Valley, TS1 3BX, UK 3Shenzhen University, Shenzhen, China |
| Pseudocode | No | The paper does not contain any structured pseudocode or algorithm blocks. |
| Open Source Code | No | The paper mentions using 'CVX, a Matlab-based package' for solving programming problems, but it does not provide any statement or link for the authors' own open-source code for the methodology described. |
| Open Datasets | No | The paper describes dynamic models and simulation scenarios for multi-robot systems, but does not mention the use of any publicly available or open dataset, nor does it provide access information for any data used in its experiments. |
| Dataset Splits | No | The paper describes simulation setups and control parameters but does not provide specific details on training, validation, or test dataset splits, as it's a control problem simulation rather than a machine learning experiment with pre-defined data splits. |
| Hardware Specification | No | The paper does not provide specific hardware details such as GPU/CPU models, processor types, or memory amounts used for running its experiments. It only mentions the software used (CVX). |
| Software Dependencies | No | The paper mentions that 'Programming problems embedded in MPCs are solved by the CVX, a Matlab-based package', but it does not specify version numbers for CVX or Matlab. |
| Experiment Setup | Yes | We derive the dynamic model of the i-th robot (Eq. 3) by discretizing a switched linear continuous system: q(t) = Aq(t) + Br,su(t), t 0, r, s {1, 2}, where A = 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 , Br,s = 0 0 r 0 0 0 0 s at the sampling frequency: sampling frequency of i-th robot = 1/0.075, i mod 3 1, 1/0.1, i mod 3 2, 1/0.15, i mod 3 0. The continuous control constraint is Ui = [2, 2]T and the safety distance is dsafe = 0.6. Programming problems embedded in MPCs are solved by the CVX, a Matlab-based package [CVX Research, 2012; Grant and Boyd, 2008]. |