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Nonlinear Decentralized Model Predictive Control for Unmanned Vehicles Moving in Formation

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Figure

Figure 1. The reference frames adopted: each agent  as a solidal body frame whose origin is in  the center of gravity
Figure 2. The considered leader-follower formation: the five vehicles, flying on the same plane at a fixed distance, ND-MPC has the task to maintain a “V” formation of  while following the main leader
Figure 4. Components of the displacement vectors. The ideal values are plotted in black, while the real values are  reported with different colours

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