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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/aljbjr946zakoq7lafnvnumzy
- Original: https://arxiv.org/abs/2610.35582

## Summary

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.