Related papers: Flocking and Target Interception Control for Forma…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
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…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
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…
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…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
This document considers the formation control problem for a group of non-holonomic mobile robots under time delayed communications. The agents are assumed to be working under a directed and fixed communication topology. A recently developed…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
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…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…