Related papers: Control of Multiagent Formations
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
We analyze the dynamics of multi-agent collective behavior models and their control theoretical properties. We first derive a large population limit to parabolic diffusive equations. We also show that the non-local transport equations…
In an emergency situation, the actors need an assistance allowing them to react swiftly and efficiently. In this prospect, we present in this paper a decision support system that aims to prepare actors in a crisis situation thanks to a…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
This paper considers the controllability problem for multi-agent systems. In particular, the structural controllability of multi-agent systems under switching topologies is investigated. The structural controllability of multi-agent systems…
We consider the distributed optimization problem for a multi-agent system. Here, multiple agents cooperatively optimize an objective by sharing information through a communication network and performing computations. In this tutorial, we…
Addressing complex cooperative tasks in safety-critical environments poses significant challenges for multi-agent systems, especially under conditions of partial observability. We focus on a dynamic network bridging task, where agents must…
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…
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…
Formation strategy is one of the most important parts of many multi-agent systems with many applications in real world problems. In this paper, a framework for learning this task in a limited domain (restricted environment) is proposed. In…
Humanoid agents are expected to emulate the complex coordination inherent in human social behaviors. However, existing methods are largely confined to single-agent scenarios, overlooking the physically plausible interplay essential for…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
Influence systems form a large class of multiagent systems designed to model how influence, broadly defined, spreads across a dynamic network. We build a general analytical framework which we then use to prove that, while sometimes chaotic,…
Complex systems are characterized by multiple spatial and temporal scales. A natural framework to capture their multiscale nature is that of multilayer networks, where different layers represent distinct physical processes that often…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments.…
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…