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This paper addresses the problem of navigation control of a general class ofuncertain nonlinear multi-agent systems in a bounded workspace of$\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralizedcontrol protocol such that each agent reaches a predefined position at theworkspace, while using only local information based on a limited sensingradius. The proposed scheme guarantees that the initially connected agentsremain always connected. In addition, by introducing certain distanceconstraints, we guarantee inter-agent collision avoidance, as well as,collision avoidance with the obstacles and the boundary of the workspace. Theproposed controllers employ a class of Decentralized Nonlinear Model PredictiveControllers (DNMPC) under the presence of disturbances and uncertainties.Finally, simulation results verify the validity of the proposed framework.

Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance