Related papers: Global Stabilization of Triangulated Formations

This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…

This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…

This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…

Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…

This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…

We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…

This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…

This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…

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…

Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…

Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…

This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…

In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…

This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…

This paper studies decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Since the inter-vehicle distance cannot be measured, the target…

A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…

The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…

Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d +1 leaders in a d-dimensional motion space and…

Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…