Hello!
I'm trying to understand your theory in paper named "Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control".
But it is difficult to understand how to transform from equation (23) to equation (24) by using a Taylor series expansion about the previous predicted position of agent i at time k_(c,i)+k_t-1.
Hello! I'm trying to understand your theory in paper named "Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control". But it is difficult to understand how to transform from equation (23) to equation (24) by using a Taylor series expansion about the previous predicted position of agent i at time k_(c,i)+k_t-1.