A Set-Theoretic Control Strategy for a Platoon of Constrained Differential-Drive Robots with Inter-Vehicle Collision Avoidance
Authors: Suryaprakash Rajkumar, Cristian Tiriolo, Walter Lucia
Accepted in: IEEE Transactions on Automation Science and Engineering (TASE)
DOI: 10.1109/TASE.2026.3656805
Watch the experimental demonstration of the platooning control strategy YouTube Video
MATLAB R2022B or later
Quanser QUARC software
Quanser QBOT platform
Vicon Vero Motion tracking setup
Local Wifi Connection
leader_parameters.m
follower_1_parameters.m
follower_2_parameters.m
Preloads the necessary parameters for the leader and the followers.
QBOT_leader_3_agents.slx
QBOT_follower_1.slx
QBOT_follower_2.slx
Real-time implementation files for executing the platooning STMPC algorithms on the Quanser QBOT platform using QUARC software.
Vicon_server_multi_robot_test_3_robots.slx - simulink file for extracting VICON information, then publishing it through TCP
Start_robots.m - used to synchronize the clock on multiple simuinks
- Suryaprakash Rajkumar
- Cristian Tiriolo
- Walter Lucia
Research performed at Predictive Cyber-Physical System Security Group (PreCySe), Concordia University, Montreal, Canada
This project is licensed under the MIT License
This work was supported by Natural Sciences and Engineering Research Council of Canada (NSERC) and Fonds de recherche du Québec – Nature et technologies (FRQNT).