Related papers: Station Keeping through Beacon-referenced Cyclic P…
Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…
Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
A multi-agent system comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention for their wide-ranging applications. Within this context, formation control emerges as a…
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…
This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit,…
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…
In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…
We propose a second-order multi-agent system for target tracking on a sphere. The model contains a centripetal force, a bonding force, a velocity alignment operator to the target, and cooperative control between flocking agents. We propose…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
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…
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…
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…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
This paper revisits a well studied leader-following consensus problem of linear multi-agent systems, while aiming at follower nodes' transient performance. Conventionally, when not all follower nodes have access to the leader's state…
Minimum circle circumnavigation is proposed in this paper, which is of special value in target monitoring, capturing and/or attacking. In this paper, a safe minimum circle circumnavigation of multiple targets based on bearing measurements…
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…