Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Recursive Feasibility and Deadlock Resolution in MPC-based Multi-robot
  Trajectory Generation   Collision-free trajectory generation within a shared workspace is fundamental
for most multi-robot applications. However, despite of their versatility, many
widely-used methods based on model predictive control (MPC) lack theoretical
guarantees on the feasibility of underlying optimization. Furthermore, when
applied in a distributed manner, deadlocks often occur where several robots
block each other indefinitely without resolution. Towards this end, we propose
a systematic method called infinite-horizon model predictive control with
deadlock resolution (IMPC-DR). It can provably ensure recursive feasibility and
effectively resolve deadlocks online in addition to the handling of input and
model constraints. The method is based on formulating a convex optimization
over the proposed modified buffered Voronoi cells in each planning horizon.
Moreover, it is fully distributed and requires only local inter-robot
communication. Comprehensive simulation and experiment studies are conducted
over large-scale multi-robot systems. Significant improvements of both
feasibility and success rate are shown, in comparison with other
state-of-the-art methods and especially in crowded and high-speed scenarios.

12
The categories of this paper are: nucl-th
25
The categories of this paper are: patt-sol
17
The categories of this paper are: q-fin
33
The categories of this paper are: plasm-ph
22
The categories of this paper are: chao-dyn
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
35
The categories of this paper are: mtrl-th
36
The categories of this paper are: cmp-lg
19
The categories of this paper are: eess
5
The categories of this paper are: gr-qc
8
The categories of this paper are: hep-ex
28
The categories of this paper are: alg-geom
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The categories of this paper are: astro-ph
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The categories of this paper are: quant-ph
2
The categories of this paper are: math