, Volume 145, Issue 1, pp 76-92,
Open Access This content is freely available online to anyone, anywhere at any time.
Date: 30 Oct 2009

On the Perpetual Collision-Free RHC of Fleets of Vehicles


Receding horizon control is emerging as a very promising technique for the centralized control of fleets of vehicles on land, sea, and in the air. We present a sufficient condition for collision avoidance within a fleet under receding horizon control, over an indefinite period of operation.