Related papers: Robust Formation Control in SE(3) for Tree-Graph S…
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…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
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…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
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…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…
Structural controllability challenges arise from imprecise system modeling and system interconnections in large scale systems. In this paper, we study structural control of bilinear systems on the special Euclidean group. We employ graph…
We study the stability and robustness of large-scale vehicular formations, in which each vehicle is modeled as a double-integrator. Two types of information graphs are considered: directed trees and undirected graphs. We prove stability of…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…