Related papers: On a hierarchical control strategy for multi-agent…
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
A multi-agent system comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention for their wide-ranging applications. Within this context, formation control emerges as a…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent…
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…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
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…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
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…
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…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…
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…
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 addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…