Related papers: Controlling and Stabilizing a Rigid Formation Usin…
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…
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…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation,…
Flocking behavior of multiple agents can be widely observed in nature such as schooling fish and flocking birds. Recent literature has proposed the possibility that flocking is possible even only a small fraction of agents are informed of…
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 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…
We introduce a new class of network allocation games called graphical distance preservation games. Here, we are given a graph, called a topology, and a set of agents that need to be allocated to its vertices. Moreover, every agent has an…
Natural active systems routinely reshape and reorganize their environments through sustained local interactions. Examples of decentralized collective construction are common in nature, e.g., many insects achieve large-scale constructions…
Curvature plays a central role in the proper function of many biological processes. With active matter being a standard framework for understanding many aspects of the physics of life, it is natural to ask what effect curvature has on the…
Cooperative systems are systems in which the forces among agents are non-repulsive. The free evolution of such systems can tend to the formation of patterns, such as consensus or clustering, depending on the properties and intensity of the…
The dynamics of systems of interacting agents is determined by the structure of their coupling network. The knowledge of the latter is, therefore, highly desirable, for instance, to develop efficient control schemes, to accurately predict…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
The spontaneous organization of particles at the boundary between two fluids is a common occurrence. Scientists have extensively investigated various internal and external factors to manipulate and guide these self-assembly processes. This…
Structural controllability challenges arise from imprecise system modeling and system interconnections in large scale systems. In this paper, we study structural control of bilinear systems on the special Euclidean group. We employ graph…
The formal study of coalition formation in multi-agent systems is typically realized in the framework of hedonic games, which originate from economic theory. The main focus of this branch of research has been on the existence and the…
We discuss certain types of cyclic and nearly cyclic interactions among N "point"-agents in the plane, leading to formations of interesting limiting geometric configurations. Cyclic pursuit and local averaging interactions have been…