Abstract
This paper presents a multi-robot control method considering a mobile ad-hoc network connectivity and inter-robot collision avoidance. A method I studied previously was based on a receding horizon control (RHC) method, and was decentralized one by some kind of serialization. However, the previous method remains some disadvantages; especially, no-scalability and huge computations. Because these disadvantages are critical flaws for multi-vehicle systems, I strive to improve the method in this paper. By a distributed priority variable, several vehicles (but not all vehicles) can make their decisions at same time in the proposed method. We show the proposed method in this paper is less computation than the previous method.
