Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems
This paper considers decentralized contingency MPC for multi-agent control under a state-only information pattern, with particular focus on limited sensing and plug-and-play operation. The objective is to retain recursive feasibility, safety, and Lyapunov-type convergence while reducing conservatism in local interaction handling. The...