Related papers: Controllability of Formations over Time-varying Gr…

This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…

We address the study of controllability of a closed quantum system whose dynamical Lie algebra is generated by adjacency matrices of graphs. We characterize a large family of graphs that renders a system controllable. The key property is a…

This paper studies the structural controllability of a class of uncertain switched linear systems, where the parameters of subsystems state matrices are either unknown or zero. The structural controllability is a generalization of the…

This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…

The interaction of distinct units in physical, social, biological and technological systems naturally gives rise to complex network structures. Networks have constantly been in the focus of research for the last decade, with considerable…

In this paper, the target controllability of multiagent systems under directed weighted topology is studied. A graph partition is constructed, in which part of the nodes are divided into different cells, which are selected as leaders. The…

The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…

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 deals with structural controllability of leader-follower networks. The system matrix defining the network dynamics is a pattern matrix in which a priori given entries are equal to zero, while the remaining entries take nonzero…

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…

Numerous complex systems, such as those arisen in ecological networks, genomic contact networks, and social networks, exhibit higher-order and time-varying characteristics, which can be effectively modeled using temporal hypergraphs.…

Controlling real-world networked systems, including ecological, biomedical, and engineered networks that exhibit higher-order interactions, remains challenging due to inherent nonlinearities and large system scales. Despite extensive…

Exact controllability is proven on a graph with cycle. The controls can be a mix of controls applied at the boundary and interior vertices. The method of proof first uses a dynamical argument to prove shape controllability and velocity…

Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. This paper studies non-fragility of…

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 this work we consider the Laplacian controllability of a graph constructed by interconnecting a finite number of single-input Laplacian controllable graphs. We first study the interconnection realized by the composite graph of two…

This paper considers the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-negative threshold. The basic theory of herdable systems is…

Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…

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…

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…