Related papers: Control of Multi-Agent Formations with Only Shape …
We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive performance in simulating multi-agent crowd motion in free…
We use a multi-agent system to model how agents (representing firms) may collaborate and adapt in a business 'landscape' where some, more influential, firms are given the power to shape the landscape of other firms. The landscapes we study…
One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
Different geometric patterns and shapes are generated using groups of agents, and this needs formation control. In this paper, Centroid Based Transformation (CBT), has been applied to decompose the combined dynamics of nonholonomic Wheeled…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
Lagrangian particle formulations of the large deformation diffeomorphic metric mapping algorithm (LDDMM) only allow for the study of a single shape. In this paper, we introduce and discuss both a theoretical and practical setting for the…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
Quantum optimal control experiments and simulations have successfully manipulated the dynamics of systems ranging from atoms to biomolecules. Surprisingly, these collective works indicate that the effort (i.e., the number of algorithmic…
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…
We consider the shape and topology optimization problem to design a structure that minimizes a weighted sum of material consumption and (linearly) elastic compliance under a fixed given boundary load. As is well-known, this problem is in…
Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
Physical fundamentals of the self-organizing theory for the system with varying constraints are considered. A variation principle, specifically the principle of dynamic harmonization as a generalization of the Gauss-Hertz principle for the…
In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this…
Controllability refers to a situation in which a Multi-agent System may be steered from one state to another using specified rules. As a result, there is belief in achieving a given condition by explicit advances. The level of dynamism in…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
We study cluster assignment in homogeneous diffusive multi-agent networks. Given the number of clusters and agents within each cluster, we design the network graph ensuring the system will converge to the prescribed cluster configuration.…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…