Abstract:We study the problem of model predictive control (MPC) for the fish schooling model proposed by Gautrais et al. (Annales Zoologici Fennici, 2008). The high nonlinearity of the model attributed to its attraction/alignment/repulsion law suggests the need to use MPC for controlling the fish schooling's motion. However, for large schools, the hybrid nature of the law can make it numerically demanding to perform finite-horizon optimizations in MPC. Therefore, this paper proposes reducing the fish schooling model fo… Show more
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