Related papers: Decentralized Formation Control Part II: Algebraic…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
Formation control is concerned with the design of control laws that stabilize agents at given distances from each other, with the constraint that an agent's dynamics can depend only on a subset of other agents. When the information flow…
We introduce and analyze a model for decentral- ized control. The model is broad enough to include problems such as formation control, decentralization of the power grid and flocking. The objective of this paper is twofold. First, we show…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…
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…
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…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
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…
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…
Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…
Formation strategy is one of the most important parts of many multi-agent systems with many applications in real world problems. In this paper, a framework for learning this task in a limited domain (restricted environment) is proposed. In…