Related papers: Translational and Scaling Formation Maneuver Contr…
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…
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 studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the…
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
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…
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…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
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…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
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…
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…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
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…