Layered virtual-leader DMPC with SQP for scalable V formation tracking of omni-robots in cluttered maps.
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| Title: | Layered virtual-leader DMPC with SQP for scalable V formation tracking of omni-robots in cluttered maps. |
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| Authors: | Duong, Tuan Phu1 tuanphu8680@gmail.com, Nguyen, Vinh Quang1 vinhquang2808@gmail.com, Nguyen, Minh Tuan2 nguyentuanminh@tnut.edu.vn |
| Source: | Telkomnika. Jun2026, Vol. 24 Issue 3, p1037-1047. 11p. |
| Subjects: | Mobile robots, Obstacle avoidance (Robotics), Robotic path planning, Predictive control systems, Scalability |
| Abstract: | This paper proposes a hierarchical virtual leader based distributed model predictive control (DMPC) framework for V-formation control of omnidirectional mobile robots in static obstacle environments. The physical leader follows a predesigned reference trajectory, while the followers maintain the desired formation through distributed optimization. A layered communication topology is established, where only a subset of robots receives the leader's predicted states and acts as virtual leaders for downstream followers. Each robot independently optimizes its control sequence using local neighbor information, enabling fully distributed coordination without centralized synchronization. The unified cost function considers formation maintenance, leader or virtual leader tracking, obstacle avoidance, and control effort. Static obstacles are represented on a grid map to ensure collision-free motion. Simulation results demonstrate that the proposed framework achieves accurate formation keeping, smooth trajectory tracking, and effective obstacle avoidance. The hierarchical virtual-leader architecture enhances scalability, coordination efficiency, and robustness for multi-robot formation systems. [ABSTRACT FROM AUTHOR] |
| Copyright of Telkomnika is the property of Department of Electrical Engineering, Ahmad Dahlan University and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 195172789 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Layered virtual-leader DMPC with SQP for scalable V formation tracking of omni-robots in cluttered maps. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Duong%2C+Tuan+Phu%22">Duong, Tuan Phu</searchLink><relatesTo>1</relatesTo><i> tuanphu8680@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Nguyen%2C+Vinh+Quang%22">Nguyen, Vinh Quang</searchLink><relatesTo>1</relatesTo><i> vinhquang2808@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Nguyen%2C+Minh+Tuan%22">Nguyen, Minh Tuan</searchLink><relatesTo>2</relatesTo><i> nguyentuanminh@tnut.edu.vn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Telkomnika%22">Telkomnika</searchLink>. Jun2026, Vol. 24 Issue 3, p1037-1047. 11p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Mobile+robots%22">Mobile robots</searchLink><br /><searchLink fieldCode="DE" term="%22Obstacle+avoidance+%28Robotics%29%22">Obstacle avoidance (Robotics)</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Predictive+control+systems%22">Predictive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Scalability%22">Scalability</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This paper proposes a hierarchical virtual leader based distributed model predictive control (DMPC) framework for V-formation control of omnidirectional mobile robots in static obstacle environments. The physical leader follows a predesigned reference trajectory, while the followers maintain the desired formation through distributed optimization. A layered communication topology is established, where only a subset of robots receives the leader's predicted states and acts as virtual leaders for downstream followers. Each robot independently optimizes its control sequence using local neighbor information, enabling fully distributed coordination without centralized synchronization. The unified cost function considers formation maintenance, leader or virtual leader tracking, obstacle avoidance, and control effort. Static obstacles are represented on a grid map to ensure collision-free motion. Simulation results demonstrate that the proposed framework achieves accurate formation keeping, smooth trajectory tracking, and effective obstacle avoidance. The hierarchical virtual-leader architecture enhances scalability, coordination efficiency, and robustness for multi-robot formation systems. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Telkomnika is the property of Department of Electrical Engineering, Ahmad Dahlan University and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.12928/TELKOMNIKA.v24i3.27589 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 11 StartPage: 1037 Subjects: – SubjectFull: Mobile robots Type: general – SubjectFull: Obstacle avoidance (Robotics) Type: general – SubjectFull: Robotic path planning Type: general – SubjectFull: Predictive control systems Type: general – SubjectFull: Scalability Type: general Titles: – TitleFull: Layered virtual-leader DMPC with SQP for scalable V formation tracking of omni-robots in cluttered maps. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Duong, Tuan Phu – PersonEntity: Name: NameFull: Nguyen, Vinh Quang – PersonEntity: Name: NameFull: Nguyen, Minh Tuan IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 06 Text: Jun2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 16936930 Numbering: – Type: volume Value: 24 – Type: issue Value: 3 Titles: – TitleFull: Telkomnika Type: main |
| ResultId | 1 |
