Related papers: Task-space coordinated tracking of multiple hetero…
This article deals with model- and data-based consensus control of heterogenous leader-following multi-agent systems (MASs) under an event-triggering transmission scheme. A dynamic periodic transmission protocol is developed to…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
This paper addresses distributed average tracking for a group of heterogeneous physical agents consisting of single-integrator, double-integrator and Euler-Lagrange dynamics. Here, the goal is that each agent uses local information and…
Motivated by the recently proposed dual control for exploration and exploitation (DCEE) concept, this paper presents a Multi-Step DCEE (MS-DCEE) framework with guaranteed convergence for autonomous search of a source of airborne dispersion.…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many dynamical systems and exploiting this property offers the…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…
In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…
We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
This paper concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
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…
Hamiltonian Monte Carlo (HMC) has emerged as a powerful Markov Chain Monte Carlo (MCMC) method to sample from complex continuous distributions. However, a fundamental limitation of HMC is that it can not be applied to distributions with…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…