Decentralized hierarchical hybrid + linear MPC Sample Clauses

Decentralized hierarchical hybrid + linear MPC. The trajectories obtained by using the decentralized hierarchical hybrid + linear MPC are shown in Figure 21. The performance is quite satisfactory: trajectories circumvent obstacles without collisions and finally the quadcopters settle at the target point, while maintaining the desired formation as much as the obstacles allow it. The lower-level tracking of references achieved by using the linear MPC controller is shown in Figure 22 for the leader.
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