Related papers: Formation Shape Control Based on Distance Measurem…
In this paper, we discuss quantization effects in rigid formation control systems when target formations are described by inter-agent distances. Because of practical sensing and measurement constraints, we consider in this paper distance…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
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…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. Using only bearing and relative velocity measurements,…
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 investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
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…
The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
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,…
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3-D space. The new rigidity theory determines a (locally)…
Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…
This article introduces a formation shape control algorithm, in the optimal control framework, for steering an initial population of agents to a desired configuration via employing the Gromov-Wasserstein distance. The underlying dynamical…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…