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Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
Gradual advancement of control technology gives rise to the studies of the stability of linear systems. The stability of the linear multiagent system is motivated by increasing utilization of agent dynamics together with the number of…
This paper studies the phase balancing of a two and three-agent system where the agents are coupled through heterogeneous controller gains. Balancing refers to the situation in which the movement of agents causes the position of their…
We study the dynamics of interacting agents from two distinct inter-mixed populations: One population includes active agents that follow a predetermined velocity field, while the second population contains exclusively passive agents, i.e.…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
We study a simple continuous-time multi-agent system related to Krause's model of opinion dynamics: each agent holds a real value, and this value is continuously attracted by every other value differing from it by less than 1, with an…
In this paper we consider the problem of stabilization and tracking of desired state trajectory for a wide range of nonlinear control problems with disturbances. We present the sufficient conditions for the existence of $C^k$ state feedback…
This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…
Transformer architecture has been showing its great strength in visual object tracking, for its effective attention mechanism. Existing transformer-based approaches adopt the pixel-to-pixel attention strategy on flattened image features and…
We present a new model for multi-agent dynamics where each agent is described by its position and body attitude: agents travel at a constant speed in a given direction and their body can rotate around it adopting different configurations.…
In this paper, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microscopic, agent-level description of the system dynamics into a…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…