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Abstract

This paper studies an evacuation problem described by a leader-follower model with bounded confidence under predictive mechanisms. We design a control strategy in such a way that agents are guided by a leader, which follows the evacuation path. The proposed evacuation algorithm is based on Model Predictive Control (MPC) that uses the current and the past information of the system to predict future agents’ behaviors. It can be observed that, with MPC method, the leader-following consensus is obtained faster in comparison to the conventional optimal control technique. The effectiveness of the developed MPC evacuation algorithm with respect to different parameters and different time domains is illustrated by numerical examples.
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Authors and Affiliations

Ricardo Almeida
1
Ewa Girejko
2
Luís Machado
3 4
Agnieszka B. Malinowska
2
Natália Martins
1

  1. Center for Research and Development in Mathematics and Applications (CIDMA), Department of Mathematics, University of Aveiro, 3810–193 Aveiro, Portugal
  2. Faculty of Computer Science, Bialystok University of Technology, 15-351 Białystok, Poland
  3. Institute of Systems and Robotics, DEEC – UC, 3030-290 Coimbra, Portugal
  4. Department of Mathematics, University of Trás-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal

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