Related papers: Controlling and Stabilizing a Rigid Formation Usin…
Flocking control of multi-agents system is challenging for agents with partially unknown dynamics. This paper proposes an online learning-based controller to stabilize flocking motion of double-integrator agents with additional unknown…
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…
Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure…
Correlations and other collective phenomena in a schematic model of heterogeneous binary agents (individual spin-glass samples) are considered on the complete graph and also on 2d and 3d regular lattices. The system's stochastic dynamics is…
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among…
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…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
In this paper, we mathematically formulate the interaction and dynamics of a hierarchical complex social system where each agent is seen as an array of many variables. The formation of identities and modifications can be studied by using…
We consider flocking of self-propelling agents in two dimensions, each of which communicates with its neighbors within a limited vision cone. Also, the communication occurs with some delay. The communication among the agents are modeled by…
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 paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a plane localizing itself using the intensity of signals from…
In this article, we consider the path-planning problem of a cooperative homogeneous robotic system with rigid formation. An optimal controller is designed for each agent in such rigid systems based on Pontryagin's minimum principle theory.…
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…
We consider a system in which a group of agents represented by the vertices of a graph synchronously update their opinion based on that of their neighbours. If each agent adopts a positive opinion if and only if that opinion is sufficiently…
We introduce a simple model of self-propelled agents connected by linear springs, with no explicit alignment rules. Below a critical noise level, the agents self-organize into a collectively translating or rotating group. We derive…
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 proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is the novel design of weights in the…