Related papers: General formation control for multi-agent systems …
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate-based (BCB) control, which is fully distributed, does not…
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator…
The paper presented in this article deals with the issue of distributed cooperative formation of multi-agent systems (MASs). It proposes the use of appropriate neural network control methods to address formation requirements (uncertainties…
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…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
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…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second…
This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scenarios, smooth, unbiased control signals save energy and…
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 fully studies distributed optimal consensus problem in non-directed dynamical networks. We consider a group of networked agents that are supposed to rendezvous at the optimal point of a collective convex objective function. Each…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…
We propose a second-order multi-agent system for target tracking on a sphere. The model contains a centripetal force, a bonding force, a velocity alignment operator to the target, and cooperative control between flocking agents. We propose…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…
In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains…
Robust time-varying formation design problems for second-order multi-agent systems subjected to external disturbances are investigated. Firstly, by constructing an extended state observer, the disturbance compensation is estimated, which is…