Related papers: Time-Varying Formation Control of a Collaborative …
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
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…
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…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research on unsignalized intersection…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
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 the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
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…