Related papers: Formation Shape Control Based on Distance Measurem…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference. A general concept of Bearing Persistently…
We consider the design of optimal localized feedback gains for one-dimensional formations in which vehicles only use information from their immediate neighbors. The control objective is to enhance coherence of the formation by making it…
In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…
This paper presents a geometric input-output analysis of hidden modes in distance-based formation control. We study the linearized dynamics under a gradient control law to characterize the system's structural limitations and their dynamic…
This paper studies formation control of an arbitrary number of spacecraft based on a serial network structure. The leader controls its absolute position and absolute attitude with respect to an inertial frame, and the followers control its…
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…
In this paper, formation control for reduced attitude is studied, in which both stationary and rotating regular tetrahedron formation can be achieved and are asymptotically stable under a large family of gain functions in the control.…
This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
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…
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…
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…