Model Predictive Control for Cooperative Hunting in Obstacle Rich and Dynamic Environments
Jacky Liao Che Liu Hugh H.T. Liu Jacky Liao Che Liu Hugh H.T. Liu
This paper studies the cooperative hunting problem, where a group of agents encircle a target while avoiding collisions with each other and with obstacles in the environment. The paper deals with obstacle rich environments and dynamic (moving obstacle) environments by formulating the problem as both a control problem and a planning problem. A model predictive control (MPC) method is proposed which...