Distributed Safety-Critical MPC for Multi-Agent Formation Control and Obstacle Avoidance

Chao Wang; Shuyuan Zhang; Lei Wang

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arXiv · 2508.19678

Distributed Safety-Critical MPC for Multi-Agent Formation Control and Obstacle Avoidance

Chao Wang·Shuyuan Zhang·Lei Wang

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Abstract

For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical model predictive control (DSMPC) algorithm that incorporates discrete-time high-order control barrier functions (DHCBFs) to enforce safety constraints, alongside discrete-time control Lyapunov functions (DCLFs) to establish terminal constraints. To facilitate distributed implementation, we develop estimated neighbor states for formulating DHCBFs and DCLFs, while also devising a bound constraint to limit estimation errors and ensure convergence. Additionally, we provide theoretical guarantees regarding the feasibility and stability of the proposed DSMPC algorithm based on a mild assumption. The effectiveness of the proposed method is evidenced by the simulation results, demonstrating improved performance and reduced computation time compared to existing approaches.

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BibTeX RIS

Chao Wang, Shuyuan Zhang, Lei Wang. 2025-08-27. Distributed Safety-Critical MPC for Multi-Agent Formation Control and Obstacle Avoidance. https://arxiv.org/abs/2508.19678

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