Related papers: Distributed stabilization control of rigid formati…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol…
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 paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body.…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
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…
Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d +1 leaders in a d-dimensional motion space and…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
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…
This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation on closed planar differentiable curves after a path sweep.…
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…