Related papers: Formation Shape Control Based on Distance Measurem…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional…
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…
This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar to the first-order case as recently discussed in the…
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
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…
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 investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
Dimensionality reduction represents the process of generating a low dimensional representation of high dimensional data. Motivated by the formation control of mobile agents, we propose a nonlinear dynamical system for dimensionality…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…