Related papers: Controllability of Formations over Time-varying Gr…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
Controlling a complex network is of great importance in many applications. The network can be controlled by inputting external control signals through some selected nodes, which are called input nodes. Previous works found that the majority…
Controllable multimodal generation is commonly formulated as an inference-time conditioning problem using prompts, guidance, or auxiliary modules. While effective, such approaches do not explicitly structure how semantic attributes evolve,…
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…
The control of dynamical, networked systems continues to receive much attention across the engineering and scientific research fields. Of particular interest is the proper way to determine which nodes of the network should receive external…
Generative agents have proven to be powerful assistants in a wide variety of contexts. Given this success, users are now deploying agents with minimal restrictions in open ended, multi-agent environments. Current methods for monitoring the…
A necessary and sufficient condition is derived for the controllability of Kronecker product networks, where the factor networks are general directed graphs. The condition explicitly illustrates how the controllability of the factor…
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among…
In this paper, we examine the controllability of Laplacian dynamic networks on cographs. Cographs appear in modeling a wide range of networks and include as special instances, the threshold graphs. In this work, we present necessary and…
This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ recent results from the theory of symmetry-forced rigidity to…
We address the link between the controllability or observability of a stochastic complex system and concepts of information theory. We show that the most influential degrees of freedom can be detected without acting on the system, by…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
In this paper, we discuss the controllability of a family of linear time-invariant (LTI) networks defined on a signed graph. In this direction, we introduce the notion of positive and negative signed zero forcing sets for the…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
This paper considers the problem of minimal control inputs to affect the system states such that the resulting system is structurally controllable. This problem and the dual problem of minimal observability are claimed to have no…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
We study directed random graphs (random graphs whose edges are directed), and present new results on the so-called strong components of those graphs. We provide analytic and simulation results on two special classes of strong component,…
We study the controllability of linearized shape-dependent operators for flow problems. The first operator is a mapping from the shape of the computational domain to the tangential wall velocity of the potential flow problem and the second…
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…