Mehrez,M.W.; Sprodowski, T.; Worthmann,K.; Mann,G.K.I.; Gosine, R.G.; Sagawa, J.K.; Pannek, J.:
Occupancy grid based distributed MPC for mobile robots.
2017 IEEE/RSJ InternationalConference on Intelligent Robots and Systems (IROS), S. 4842–4847, 2017. IEEE.


In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. The key idea is to project the predicted state trajectory onto a grid resulting in an occupancy grid prediction. This approach has the advantage of utilizing continuous optimization methods while only quantized information is exchanged. We consider non-holonomic mobile robots to numerically and experimentally investigate the proposed method.