Related papers: Distance-based Control of K4 Formation with Almost…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate-based (BCB) control, which is fully distributed, does not…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…
This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…
Motion synthesis in a dynamic environment has been a long-standing problem for character animation. Methods using motion capture data tend to scale poorly in complex environments because of their larger capturing and labeling requirement.…
This is a complete version of the 6-page IEEE TAC technical note [1]. In this paper, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed…
This paper considers a leader-following formation control problem for heterogeneous, second-order, uncertain, input-affine, nonlinear multi-agent systems modeled by a directed graph. A tunable, three-layer neural network (NN) is proposed…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…
This paper investigates the intrinsic formation problem of a multi-agent system using an exogenous system. The problem is formulated as an intrinsic infinite time-horizon linear quadratic optimal control problem, namely, no formation error…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Sim-to-real transfer for contact-rich manipulation remains challenging due to the inherent discrepancy in contact dynamics. While existing methods often rely on costly real-world data or utilize blind compliance through fixed controllers,…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
Inspired by biological systems, we introduce a general framework for quasi-static shape control of human-scale structures under slowly varying external actions or requirements. In this setting, shape control aims to traverse the stable…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…