A hybrid rule-based extension of a recently proposed decentralized Receding Horizon Control (RHC) scheme is presented for vehicle formation control. The scheme makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination. The decentralized control laws which respect the rules are computed using hybrid control design techniques. The basic ideas are illustrated on a two-vehicle formation flight example. A more complex simulation involving six vehicles is shown as well to demonstrate the potential benefits of using rules for coordination within the RHC scheme.
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