Related papers: Top-Down Synthesis of Multi-Agent Formation Contro…
In this paper we study multi-agent discrete-event systems where the agents can be divided into several groups, and within each group the agents have similar or identical state transition structures. We employ a relabeling map to generate a…
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…
Training conversational question-answering (QA) systems requires a substantial amount of in-domain data, which is often scarce in practice. A common solution to this challenge is to generate synthetic data. Traditional methods typically…
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…
While modern diffusion models excel at generating high-quality and diverse images, they still struggle with high-fidelity compositional and multimodal control, particularly when users simultaneously specify text prompts, subject references,…
Robust time-varying formation design problems for second-order multi-agent systems subjected to external disturbances are investigated. Firstly, by constructing an extended state observer, the disturbance compensation is estimated, which is…
We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of…
Formation strategy is one of the most important parts of many multi-agent systems with many applications in real world problems. In this paper, a framework for learning this task in a limited domain (restricted environment) is proposed. In…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
Topology optimization is used to systematically design contact-aided thermo-mechanical regulators, i.e. components whose effective thermal conductivity is tunable by mechanical deformation and contact. The thermo-mechanical interactions are…
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…
In this paper, we propose a new and systematic design framework for output consensus in heterogeneous Multi-Input Multi-Output (MIMO) general nonlinear Multi-Agent Systems (MASs) subjected to directed communication topology. First, the…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
This paper considers the controllability problem for multi-agent systems. In particular, the structural controllability of multi-agent systems under switching topologies is investigated. The structural controllability of multi-agent systems…