Related papers: Distributed model independent algorithm for spacec…
In this paper, we propose a control law for camera-equipped drone networks to pursue a target rigid body with unknown motion based on distributed Gaussian process. First, we consider the situation where each drone has its own dataset, and…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or anchors. A novel approach, referred to as…
In this paper, a distributed learning leader-follower consensus protocol based on Gaussian process regression for a class of nonlinear multi-agent systems with unknown dynamics is designed. We propose a distributed learning approach to…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
The objective is to design distributed coordination strategies for a network of agents in a cyber-physical environment. In particular, we concentrate on the rendez-vous of agents having double-integrator dynamics with the addition of a…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
This paper studies formation control of an arbitrary number of spacecraft based on a serial network structure. The leader controls its absolute position and absolute attitude with respect to an inertial frame, and the followers control its…
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…
This paper studies the synchronization of stochastic linear systems which are subject to a general class of noises, in the sense that the noises are bounded in covariance but might be correlated with the states of agents and among each…
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a…
In this paper we present three distributed control laws for the coordination of networked Euler-Lagrange (EL) systems. We first reformulate the passivity-based control design method in \cite{Arcak} by considering that each edge is…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
A cascaded online learning flight control system has been developed and enhanced with respect to action smoothness. In this paper, we investigate the convergence performance of the control system, characterized by the increment of a…