Semi-distributed receding horizon control for multi-vehicle system with mobile ad-hoc network

This paper presents a method to keep network connectivity and avoid collision for a multi-vehicle system with a mobile ad-hoc network. Previously, we studied a similar method based on a receding horizon control (RHC), and the previous method was decentralized by some kind of serialization. However, the previous method remains some disadvantages; especially, no-scalability and huge computations. We strive to improve the method because these disadvantages are critical flaws for multi-vehicle systems The method we propose here is semi-distributed one: here, “semi-distributed” means that the proposed method is intermediate one between our previous method and our ideal distributed method. By a certain distributed count-down timer function, several vehicles (but not many vehicles) can make their decisions at same time in the proposed method.