Related papers: Bearing Rigidity and Almost Global Bearing-Only Fo…
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 problem of the bearing-based formation control with disturbance rejection for a group of agents under the leader-follower structure. The disturbances are in the form of a trigonometric polynomial with arbitrary…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
Self-similar space-filling bearings have been proposed some time ago as models for the motion of tectonic plates and appearance of seismic gaps. These models have two features which, however, seem unrealistic, namely, high symmetry in the…
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…
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
We extend the mathematical theory of rigidity of frameworks (graphs embedded in $d$-dimensional space) to consider nonlocal rigidity and flexibility properties. We provide conditions on a framework under which (I) as the framework flexes…
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. Using only bearing and relative velocity measurements,…
The paper deals with the interaction between buckling and resonance instabilities of mechanical systems. Taking into account the effect of geometric nonlinearity in the equations of motion through the geometric stiffness matrix, the problem…
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…
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3-D space. The new rigidity theory determines a (locally)…
A (bar-and-joint) framework is a set of points in a normed space with a set of fixed distance constraints between them. Determining whether a framework is locally rigid - i.e. whether every other suitably close framework with the same…
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…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…
A linearly constrained framework in $\mathbb{R}^d$ is a point configuration together with a system of constraints which fixes the distances between some pairs of points and additionally restricts some of the points to lie in given affine…
In this paper, we introduce new concepts of weak rigidity matrix and infinitesimal weak rigidity for planar frameworks. The weak rigidity matrix is used to directly check if a framework is infinitesimally weakly rigid while previous work…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…