Related papers: Distributed Control of Angle-constrained Circular …
We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at…
A distributed implementation of a Robust Integral of the Sign of the Error (RISE) controller is developed for multi-agent target tracking problems with exponential convergence guarantees. Previous RISE-based approaches for multi-agent…
This article proposes a distributed control method for matrix-scaled multi-agent networks aimed at achieving convergence within a user-defined time frame. The control law of each individual agent relies only on information from neighboring…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
This paper presents novel algorithms for the Fermat-Weber Location Problem, guiding an autonomous agent to the point that minimizes the weighted sum of Euclidean distances to some beacons using only bearing measurements. The existing…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
In this paper, a distributed multi-agent formation control driven by the gradient of the Lennard-Jones potential is analyzed. For collision-free initial data, we prove global well-posedness together with a uniform lower bound on all…
The objective is to design distributed coordination strategies for a network of agents in a cyber-physical environment. In particular, we concentrate on the rendez-vous of agents having double-integrator dynamics with the addition of a…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
We present a distributed control law to assemble a cluster of satellites into an equally-spaced, planar constellation in a desired circular orbit about a planet. We assume each satellite only uses local information, transmitted through…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
In the paper, we formulate the target-pointing consensus problem where the headings of agents are required to point at a common target. Only a few agents in the network can measure the bearing information of the target. A two-step solution…
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second…
This paper presents a novel approach to generating stabilizing controllers for a large class of dynamical systems using diffusion models. The core objective is to develop stabilizing control functions by identifying the closest…
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…
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…
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
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)…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…