Related papers: Formation Stabilization with Collision Avoidance o…
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…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
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…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
Given an ensemble of autonomous agents and a task to achieve cooperatively, how much do the agents need to know about the state of the ensemble and about the task in order to achieve it? We introduce new methods to understand these aspects…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…