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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…
The aim of this paper is to present the application of an approach to study contraction theory recently developed for piecewise smooth and switched systems. The approach that can be used to analyze incremental stability properties of…
This paper focuses on the problem of estimating bearing vectors between the agents in a two dimensional multi-agent network based on subtended angle measurements, called edge localization problem. We propose an edge localization graph to…
This paper studies the problem of multi-agent cooperative localization of a common reference coordinate frame in $\mathbb{R}^3$. Each agent in a system maintains a body-fixed coordinate frame and its actual \textit{frame transformation}…
A continuum density-field formulation with particle-scale resolution is constructed to simultaneously incorporate the orientation dependence of interparticle interactions and the rotational invariance of the system, a fundamental but…
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
This paper deals with shape irregularity issues in discrete topology optimization algorithms whereby the design is created using the automated distribution of material in the design region. Graph theory is employed to derive appropriate…
We consider a cantilever beam which possesses a possibly non-uniform permanent magnetization, and whose shape is controlled by an applied magnetic field. We model the beam as a plane elastic curve and we suppose that the magnetic field acts…
This work develops a symmetry-based framework for formation control on cycle graphs using Dihedral point-group constraints. We show that enforcing inter-agent reflection symmetries, together with anchoring a single designated agent to its…
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…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
For most existing prescribed performance formation control methods, performance requirements are not directly imposed on the relative states between agents but on the consensus error, which lacks a clear physical interpretation of their…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…