Related papers: Undirected Rigid Formations are Problematic
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
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 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…
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…
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…
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 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…
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…
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…
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…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that…
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…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
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…
Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled…
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
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)…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…