Related papers: Control of one-dimensional guided formations using…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
In this paper, two cooperative guidance laws based on two-point boundary value are designed to deal with the problem of cooperative encirclement and simultaneous attack under condition of both known target acceleration and unknown target…
We consider the design of optimal localized feedback gains for one-dimensional formations in which vehicles only use information from their immediate neighbors. The control objective is to enhance coherence of the formation by making it…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
Autonomous vehicles (AVs) enable more efficient and sustainable transportation systems. Ample studies have shown that controlling a small fraction of AVs can smooth traffic flow and mitigate traffic congestion. However, deploying AVs in…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar to the first-order case as recently discussed in the…
In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…
We study localization and control for unstable systems under coarse, single-bit sensing. Motivated by understanding the fundamental limitations imposed by such minimal feedback, we identify sufficient conditions under which the initial…
Consider a small group of mobile agents whose goal is to locate a certain cell in a two-dimensional infinite grid. The agents operate in an asynchronous environment, where in each discrete time step, an arbitrary subset of the agents…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…