E-CNMPC: Edge-Based Centralized Nonlinear Model Predictive Control for Multiagent Robotic Systems

With the wide deployment of autonomous multi-agent robotic systems, control solutions based on centralized algorithms have been developed. Even though these can optimize performance they require a lot computational effort, and unit to undertake whole process. Yet, many platforms like some ground robots even more, aerial robots, do not computing capacity execute this kind frameworks their onboard computers. While cloud has used as solution for offloading computationally demanding applications, from servers, latency introduce system set them unsuitable time sensitive applications. To overcome challenges, article promotes an Edge computing-based Centralized Nonlinear Model Predictive Control (E-CNMPC) framework control, optimize, in swarm formation, trajectory multiple agents, while taking under consideration potential collisions. The data processing procedure critical application controlling manner, is offloaded edge machine, thus benefits provided resources, features, optimal performance, remains bounded desired values. Besides, real experiments were conducted proof-of-concept proposed evaluate system’s effectiveness.