Related papers: Formation Control and Network Localization via Dis…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
This paper studies formation control of an arbitrary number of spacecraft based on a serial network structure. The leader controls its absolute position and absolute attitude with respect to an inertial frame, and the followers control its…
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…
It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flocking control with dynamic pattern formation is, therefore,…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
This paper examines online distributed Alternating Direction Method of Multipliers (ADMM). The goal is to distributively optimize a global objective function over a network of decision makers under linear constraints. The global objective…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…