Related papers: Control of one-dimensional guided formations using…
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced…
Uncertainty-aware prediction is essential for safe motion planning, especially when using learned models to forecast the behavior of surrounding agents. Conformal prediction is a statistical tool often used to produce uncertainty-aware…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d +1 leaders in a d-dimensional motion space and…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
Previous research into agent communication has shown that a pre-trained guide can speed up the learning process of an imitation learning agent. The guide achieves this by providing the agent with discrete messages in an emerged language…
This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
This paper studies the informativity problem for reachability and null-controllability of constrained systems. To be precise, we will focus on an unknown linear systems with convex conic constraints from which we measure data consisting of…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Inspired by the chemotaxis interaction of living cells, we have developed an agent-based approach for self-organizing shape formation. Since all our simulations begin with a different uniform random configuration and our agents move…
Developing effective descriptions of the microscopic dynamics of many physical phenomena can both dramatically enhance their computational exploration and lead to a more fundamental understanding of the underlying physics. Previously, an…
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the…
This paper considers autonomous flight formation of fixed-wing air vehicles. Due to several issues such as limitations on communication bandwidth and low observability requirements, an asynchronous control and communication approach is…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…