Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach

In the quest for autonomous vehicles, autonomous vehicular Feedback Linearization (FL) is a well-established linearization platooning is a practical option that offers various technique capable of transforming a nonlinear advantages, including increased safety, reduced drag, and time-invariant model into an equivalent linear one [7]. However, greater performance in comparison to a single autonomous simplifying the robot's dynamics comes at the cost vehicle. Platoon in vehicular technologies is often defined as of increasing the complexity of its input constraints. As a group of vehicles traversing in a coordinated manner while a matter of fact, when FL is applied to linearize mobile communicating with each other and by using autonomous robot's kinematics, even simple-box-like input constraint driving technology [1].