Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Decentralized MPC based Obstacle Avoidance for Multi-Robot Target
  Tracking Scenarios   In this work, we consider the problem of decentralized multi-robot target
tracking and obstacle avoidance in dynamic environments. Each robot executes a
local motion planning algorithm which is based on model predictive control
(MPC). The planner is designed as a quadratic program, subject to constraints
on robot dynamics and obstacle avoidance. Repulsive potential field functions
are employed to avoid obstacles. The novelty of our approach lies in embedding
these non-linear potential field functions as constraints within a convex
optimization framework. Our method convexifies non-convex constraints and
dependencies, by replacing them as pre-computed external input forces in robot
dynamics. The proposed algorithm additionally incorporates different methods to
avoid field local minima problems associated with using potential field
functions in planning. The motion planner does not enforce predefined
trajectories or any formation geometry on the robots and is a comprehensive
solution for cooperative obstacle avoidance in the context of multi-robot
target tracking. We perform simulation studies in different environmental
scenarios to showcase the convergence and efficacy of the proposed algorithm.
Video of simulation studies: \url{https://youtu.be/umkdm82Tt0M}

31
The categories of this paper are: ao-sci
35
The categories of this paper are: mtrl-th
16
The categories of this paper are: stat
21
The categories of this paper are: adap-org
10
The categories of this paper are: q-bio
4
The categories of this paper are: cond-mat
5
The categories of this paper are: gr-qc
23
The categories of this paper are: solv-int
11
The categories of this paper are: hep-lat
36
The categories of this paper are: cmp-lg
9
The categories of this paper are: nlin
13
The categories of this paper are: quant-ph
18
The categories of this paper are: econ
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The categories of this paper are: comp-gas
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The categories of this paper are: alg-geom
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The categories of this paper are: plasm-ph