Mixed-Integer Programming Techniques in Distributed MPC Problems

  • I. ProdanEmail author
  • F. Stoican
  • S. Olaru
  • C. Stoica
  • S.-I. Niculescu
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 69)


This chapter proposes a distributed approach for the resolution of a multi-agent problem under collision and obstacle avoidance conditions. Using hyperplane arrangements and mixed integer programming, we provide an efficient description of the feasible region verifying the avoidance constraints. We exploit geometric properties of hyperplane arrangements and adapt this description to the distributed scheme in order to provide an efficient Model Predictive Control (MPC) solution. Furthermore, we prove constraint validation for a hierarchical ordering of the agents.


Feasible Region Mixed Integer Programming Model Predictive Control Prediction Horizon Hyperplane Arrangement 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The research of Ionela Prodan is financially supported by the EADS Corporate Foundation (091-AO09-1006).


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • I. Prodan
    • 1
    • 3
    Email author
  • F. Stoican
    • 2
  • S. Olaru
    • 1
  • C. Stoica
    • 1
  • S.-I. Niculescu
    • 3
  1. 1.Automatic Control DepartmentSUPELEC Systems Sciences (E3S)Gif Sur YvetteFrance
  2. 2.Department of Engineering CyberneticsNorwegian University of Science and Technology (NTNU)TrondheimNorway
  3. 3.Signals and Systems Laboratory SUPELEC Systems Sciences (E3S)Gif Sur YvetteFrance

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