Communication bandwidth allocation for decentralized receding horizon control of multiple vehicles

We consider the decentralized receding horizon control (DRHC) of a team of cooperative vehicles with limited communication bandwidth. The results of analyzing the feasibility, stability and performance of DRHC imply that the mismatch between predicted and actual plans of each agent plays an important role in stability and performance of the entire fleet. Hence, based on this key result, a new improved algorithm is proposed which leads to superior stability and performance of the overall team. The key idea is to reduce the mismatch between the predicted and actual plans of each agent by efficient communication bandwidth allocation. Several simulations for the formation flight of rotorcrafts verify the analytical results.