Networked Model Predictive Control for Multi-Vehicle Decision-Making


Key Facts

Course Description

This course combines theory of Networked Model Predictive Control (Net-MPC) with practical exercises in the Cyber-Physical Mobility Lab (CPM Lab, a lab for networked control systems).

In the theory part, we will discuss three strategies for Net-MPC: centralized, cooperative, and non-cooperative. We focus on distributing the control problem of multi-agent systems coupled via objective function or constraints using Distributed MPC (DMPC). The course will further discuss the application of Net-MPC to the decision-making problem in a multi-vehicle system, which prepares the participants for the practical lab work.

In the practical part, we will apply the Net-MPC strategies to vehicle platooning in the CPM Lab. The CPM Lab is an open source platform for networked and autonomous vehicles. We designed it to support rapid functional prototyping. It consists of 20 model-scale vehicles for experiments and a simulation environment. Software developed in simulations can be seamlessly transferred to experiments without any adaptions. Additionally, experiments with the 20 vehicles can be extended by unlimited additional simulated vehicles. The CPM Lab allows researchers as well as students from different disciplines to see their ideas develop into reality. The CPM Lab is completely designed and developed by the Cyber-Physical Mobility Group at RWTH Aachen University.

Course Outline

  • Introduction to the course
  • Vehicle models
  • Control engineering and optimization: model predictive control, convex optimization, non-convex optimization
  • Network and distribution: graph theory, distributed algorithms, cooperative and non-cooperative approaches to networked control
  • Case study: vehicle platoon
  • Software architectures and testing concepts: service-oriented software architecture, In-the-loop testing concepts for networked systems

Course Materials

Here are the course materials (lecture slides, lab tasks, and lecture videos).

Use of Course Materials

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