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arXiv · 2605.15049

A Prototyping Framework for Distributed Control of Multi-Robot Systems

Junaid Ahmed Memon·Allan Andre Do Nascimento·Kostas Margellos·Antonis Papachristodoulou
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Abstract

This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the framework emulates distributed control on a single computer, with each core running the same algorithm using local states and neighbour-to-neighbour communication. We demonstrate the framework on a four-quadrotor position-swapping task using a non-cooperative game-theoretic distributed algorithm. Computational time and trajectory data are compared across the supported dynamics levels: a point-mass model, a high-fidelity quadrotor model, and an experimental hardware testbed using Crazyflie quadcopters. The results show that the framework provides a low-cost and accessible approach for validating distributed algorithms.

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Junaid Ahmed Memon, Allan Andre Do Nascimento, Kostas Margellos, Antonis Papachristodoulou. 2026-05-14. A Prototyping Framework for Distributed Control of Multi-Robot Systems. https://arxiv.org/abs/2605.15049

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