Related papers: Decentralized Formation Control Part I: Geometric …
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…
In many areas of applied mathematics, engineering, and social and natural sciences, decentralization of information is a key aspect determining how to approach a problem. In this review article, we study information structures in a…
This paper studies distributed optimal formation control with hard constraints on energy levels and termination time, in which the formation error is to be minimized jointly with the energy cost. The main contributions include a globally…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
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…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
Dimensionality reduction represents the process of generating a low dimensional representation of high dimensional data. Motivated by the formation control of mobile agents, we propose a nonlinear dynamical system for dimensionality…
This paper presents a geometric input-output analysis of hidden modes in distance-based formation control. We study the linearized dynamics under a gradient control law to characterize the system's structural limitations and their dynamic…
This work develops a symmetry-based framework for formation control on cycle graphs using Dihedral point-group constraints. We show that enforcing inter-agent reflection symmetries, together with anchoring a single designated agent to its…
Graph rigidity theory studies the capability of a graph embedded in the Euclidean space to constrain its global geometric shape via local constraints among nodes and edges, and has been widely exploited in network localization and formation…
In this paper, we study the construction and transformation of two-dimensional persistent graphs. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations,…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
We consider the decentralized control of a discrete-time, linear system subject to exogenous disturbances and polyhedral constraints on the state and input trajectories. The underlying system is composed of a finite collection of…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…