Keviczky, TamasBorrelli, FrancescoFregene, KingsleyGodbole, DattaBalas, Gary J.2008-06-122008-06-122008-01Keviczky, T., Borrelli, F., Fregene, K., and Balas, G. J. (2008). "Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations." IEEE Transactions on Control Systems Technology. 16(1), 19-33.https://hdl.handle.net/11299/37136©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior and plan conflict-free trajectories that maintain coordination and achieve team objectives. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory.en-USArticle