Related papers: Bearing-Based Formation Stabilization with Directe…
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…
We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…
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 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…
We hereby develop the theory of Turing instability for reaction-diffusion systems defined on m-directed hypergraphs, the latter being generalization of hypergraphs where nodes forming hyperedges can be shared into two disjoint sets, the…
This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid…
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…
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 work proposes an extension to the leader-first follower (LFF) class of graphs used to solve the bearing-only formation control problem over directed graphs. The first contribution provides an equilibrium, stability, and convergence…
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…
We propose a geometric approach to distance-based formation control modeled on a minimum-norm lifting of Riemannian gradient descent in edge-space to node-space. This yields a unified family of controllers, including the classical gradient…
Pattern formation, arising from systems of autonomous reaction-diffusion equations, on networks has become a common topic of study in the scientific literature. In this work we focus primarily on directed networks. Although some work prior…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
In this paper, we study the construction and transformation of two-dimensional persistent graphs. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent formations,…
We study the notion of structured realizability for linear systems defined over graphs. A stabilizable and detectable realization is structured if the state-space matrices inherit the sparsity pattern of the adjacency matrix of the…
We study the stability and robustness of large-scale vehicular formations, in which each vehicle is modeled as a double-integrator. Two types of information graphs are considered: directed trees and undirected graphs. We prove stability of…
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 the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the…