Real-time reconfiguration and safe navigation for AUVs network using distributed nonlinear MPC and relaxed CBFs: theory and experimental validation

Nguyen, M-N, McIlvanna, S, Close, J, Van, M and Tsimenidis, CC ORCID: https://orcid.org/0000-0003-2247-3397, 2025. Real-time reconfiguration and safe navigation for AUVs network using distributed nonlinear MPC and relaxed CBFs: theory and experimental validation. IEEE/ASME Transactions on Mechatronics. ISSN 1083-4435

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Abstract

The controlled coordination of multiple agents provides an opportunity for increased robotics system efficacy. This could be realised through the execution of more complex tasks, reduction of completion time, or enhanced spatial coverage. However, limited communication between agents necessitates a robust and distributed coordination strategy to maintain operational effectiveness and reliability. This study explores the design and implementation of a novel distributed nonlinear model predictive control scheme that integrates control barrier functions (CBFs) for trajectory tracking and formation control of multiple underwater robots. CBFs act as safety constraints, guaranteeing that system safety and performance objectives are simultaneously considered within a short prediction horizon, reducing the computational burden in real-time implementation. In addition, the relaxed decay rate technique enhances the feasibility of the optimization and system safety at the same time. A series of validation scenarios, including obstacle avoidance, are presented through both software-in-the-loop simulations and physical experiments in the aquatic environment. These scenarios demonstrate the robustness and flexibility of the proposed control strategy, ensuring safe and coordinated operations of multiple underwater robots.

Item Type:	Journal article
Publication Title:	IEEE/ASME Transactions on Mechatronics
Creators:	Nguyen, M.-N., McIlvanna, S., Close, J., Van, M. and Tsimenidis, C.C.
Publisher:	Institute of Electrical and Electronics Engineers (IEEE)
Date:	2025
ISSN:	1083-4435
Identifiers:	Number Type 10.1109/tmech.2025.3561256 DOI 2462271 Other
Rights:	© 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Divisions:	Schools > School of Science and Technology
Record created by:	Jeremy Silvester
Date Added:	24 Jul 2025 08:27
Last Modified:	24 Jul 2025 08:27
URI:	https://irep.ntu.ac.uk/id/eprint/54011

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