Friday, 10:30 - 10:55 h, Room: H 0106


J├╝rgen Pannek
Collision avoidance via distributed feedback design


We consider a distributed non cooperative control setting in which systems are interconnected via state constraints. Each of these systems is governed by an agent which is responsible for exchanging information with its neighbours and computing a feedback law using a nonlinear model predictive controller to avoid collisions. For this setting we present an algorithm which generates a parallelizable hierarchy among the systems. Moreover, we show both feasibility and stability of the closed loop using only abstract properties of this algorithm. To this end, we utilize a trajectory based stability result which we extend to the distributed setting.


Talk 1 of the invited session Fri.1.H 0106
"Optimizing robot welding cells" [...]
Cluster 13
"Logistics, traffic, and transportation" [...]


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