Related papers: Distance-based Control of K4 Formation with Almost…
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 addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…
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 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…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
In this paper, formation control for reduced attitude is studied, in which both stationary and rotating regular tetrahedron formation can be achieved and are asymptotically stable under a large family of gain functions in the control.…
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…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at…
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…
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…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…