Related papers: Control of one-dimensional guided formations using…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
We study a simple but compelling model of $n$ interacting agents via time-dependent, unidirectional communication. The model finds wide application in a variety of fields including synchronization, swarming and distributed decision making.…
In this article, we consider the path-planning problem of a cooperative homogeneous robotic system with rigid formation. An optimal controller is designed for each agent in such rigid systems based on Pontryagin's minimum principle theory.…
In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…
We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of…
We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Schemas are knowledge structures that can enable rapid learning. Rodent one-shot learning in a multiple paired association navigation task has been postulated to be schema-dependent. We still only poorly understand how schemas,…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…
Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
This paper investigates agreement protocols over cooperative and cooperative--antagonistic multi-agent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Biological agents have adopted the principle of attention to limit the rate of incoming information from the environment. One question that arises is if an artificial agent has access to only a limited view of its surroundings, how can it…
Motivated by the problem of formation control for vehicles moving at unit speed in three-dimensional space, we are led to models of gyroscopically interacting particles, which require the machinery of curves and frames to describe and…
The aim of path planning is to reach the goal from starting point by searching for the route of an agent. In the path planning, the routes may vary depending on the number of variables such that it is important for the agent to reach…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…