多机器人系统可随时加入或退出通信网络，无需中心协调。
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
- 基于距离定义邻居，用预测轨迹生成合约约束。
- 支持高速动态环境下对向移动机器人的有效避障。
- 适用于真实场景的分布式协同控制，适合自动驾驶车队应用。
许多移动多机器人应用面临通信拓扑固有的时变性挑战：节点可能随时接入或离开网络，且此类变化通常无法预先限制。本文提出一种基于本地通信的分布式多智能体控制算法，可在无需中央协调的情况下，实现任意时刻的智能体加入与退出。该方法通过基于距离的邻近定义和由预测轨迹生成的合约，实现高效扩展。合约约束确保了碰撞避免与约束满足。在自主多机器人驾驶场景中验证，无论是仿真还是真实实验，均在高速动态环境中成功实现了对向移动机器人的有效避障。
原文摘要 · Abstract (English)
A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cannot generally be restricted a priori. This work introduces a distributed multi-agent control algorithm based on local communication that supports anytime agent joining and leaving the communication network without centralized coordination. The method scales efficiently with the number of agents by relying on a distance-based neighbor definition and on contracts derived from predicted trajectories. The resulting contract constraints guarantee collision avoidance and constraint satisfaction. We validate the proposed method in an autonomous multi-agent driving scenario, demonstrating effective collision avoidance in high-speed, dynamic environments with agents moving in opposite directions, in both simulated and real-world experiments.
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