Related papers: Control of Multiagent Formations
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…
Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
Multiagent systems aim to accomplish highly complex learning tasks through decentralised consensus seeking dynamics and their use has garnered a great deal of attention in the signal processing and computational intelligence societies. This…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
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…
This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to…
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…
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…
In multiagent systems autonomous agents interact with each other to achieve individual and collective goals. Typical interactions concern negotiation and agreement on resource exchanges. Modeling and formalizing these agreements pose…
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left-invariant control system on a Lie group. The agents…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…