Related papers: Bearing-Based Distributed Control and Estimation o…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a…
Bearing--only estimation is one of the fundamental and challenging problems in target tracking. As in the case of radar tracking, the presence of offset or position biases can exacerbate the challenges in bearing--only estimation. Modeling…
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…
Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…
This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics. Two distributed adaptive dynamic consensus protocols are proposed, based on the relative output information of…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs…
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…
This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express…
This paper proposes a distributed attack detection and mitigation technique based on distributed estimation over a multi-agent network, where the agents take partial system measurements susceptible to (possible) biasing attacks. In…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
We present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decentralized multi-agent system. The proposed approaches rely on…
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…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
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…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…