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Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle avoidance strategy. More specifically, we integrate the local obsta
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