Related papers: Distributed event-triggered control for multi-agen…
This paper introduces an online data-driven learning scheme designed to address a novel problem in propensity formation and containment control for fully heterogeneous multi-agent systems. Unlike traditional approaches that rely on the…
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 presents a distributed position synchronization strategy that also preserves the initial communication links for single-integrator multi-agent systems with time-varying delays. The strategy employs a coordinating proportional…
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…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
In this paper, we study the leader-following consensus problem of multiple Euler-Lagrange systems subject to an uncertain leader system. We first establish an adaptive distributed observer for a neutrally stable linear leader system whose…
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…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
This paper addresses the problem of event-triggered control for infinite-dimensional systems. We employ event-triggering mechanisms that compare the plant state and the error of the control input induced by the event-triggered…
In this paper, we consider the problem of second moment stabilization of a scalar linear plant with process noise. We assume that the sensor must communicate with the controller over an unreliable channel, whose state evolves according to a…
A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…
In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…