Related papers: Global Stabilization of Triangulated Formations
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
In this paper we study the optimal formation control of multiple agents whose interaction parameters are adjusted upon a cost function consisting of both the control energy and the geometrical performance. By optimizing the interaction…
This paper addresses questions regarding controllability for `generic parameter' dynamical systems, i.e. the question whether a dynamical system is `structurally controllable'. Unlike conventional methods that deal with structural…
Inspired by biological systems, we introduce a general framework for quasi-static shape control of human-scale structures under slowly varying external actions or requirements. In this setting, shape control aims to traverse the stable…
Graph Transformers can mix information globally, but this flexibility also creates failure modes: some tasks require long-range communication while others are better served by local interaction. We study this through a synthetic…
We study the multi-agent formation control problem in a directed graph. The relative configurations are expressed by unit dual quaternions (UDQs). We call such a weighted directed graph a unit dual quaternion directed graph (UDQDG). We show…
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…
Graph rigidity theory studies the capability of a graph embedded in the Euclidean space to constrain its global geometric shape via local constraints among nodes and edges, and has been widely exploited in network localization and formation…
Static structured control refers to the task of designing a state-feedback controller such that the control gain satisfies a subspace constraint. Structured control has applications in control of communication-inhibited dynamical systems,…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
Symmetries are an essential feature of complex networks as they regulate how the graph collective dynamics organizes into clustered states. We here show how to control network symmetries, and how to enforce patterned states of…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration…
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges…
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…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
In this paper we study a family of controllers that guarantees attitude synchronization for a network of elements in the unit sphere domain, i.e. $\mathcal{S}^2$. We propose distributed continuous controllers for elements whose dynamics are…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…