Related papers: Top-Down Synthesis of Multi-Agent Formation Contro…
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 proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges…
Given an ensemble of autonomous agents and a task to achieve cooperatively, how much do the agents need to know about the state of the ensemble and about the task in order to achieve it? We introduce new methods to understand these aspects…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
Partially Controlled Multi-Agent Systems (PCMAS) are comprised of controllable agents, managed by a system designer, and uncontrollable agents, operating autonomously. This study addresses an optimal composition design problem in PCMAS,…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
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…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…
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…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
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…