Article

Distributed Predictive Flocking Control for a Swarm of Miniature Vibration-Driven Robots in a Confined Arena

The study proposes a distributed predictive flocking controller in which each miniature vibration-driven robot independently solves a nonlinear model predictive control (NMPC) problem and exchanges only predicted trajectories with local neighbors, comparing six barrier and control barrier function (CBF) safety formulations on a digital twin of an open-source vibration-driven bristlebot in a 0.64-square-meter arena.

Part of the event: Distributed Predictive Aggregation Control for Micro Vibration-Driven Robot Swarms

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