MPPDC: Model Prediction-based Perceptual Deformation Control for Multiple Robots in Narrow Space Environments

This repository presents the following article in Python:

Duy-Nam Bui, Manh Duong Phung, Hung Pham Duy, "MPPDC: Model Prediction-based Perceptual Deformation Control for Multiple Robots in Narrow Space Environments," Submitted.

The article is under review. If the Journal's editorial board does not immediately request to publish the source code, we may publish the final source code when the article is accepted.

Control digram

Installation

git clone git@github.com:duynamrcv/mppdc.git
cd mppdc
pip install -r requirement.txt

Demo

The proposed method is in MPPDC directory. To run the simulation, please run:

cd Proposed
python3 main.py

The data will be saved in data.txt file. To view animation, please run:

python3 animation.py

For the comparisons, we implement two approaches named Behavior-based Deformation Control (BDC) and Model Prediction-based Formation Control (MPFC)

Results

Scenario 1	Scenario 2