Related papers: Efficient Consensus-based Formation Control With D…
This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
In wireless communication-based formation control systems, the control performance is significantly impacted by the channel capacity of each communication link between agents. This relationship, however, remains under-investigated in the…
This paper considers autonomous flight formation of fixed-wing air vehicles. Due to several issues such as limitations on communication bandwidth and low observability requirements, an asynchronous control and communication approach is…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
The topic of this paper is achieving finite-time max-consensus in a multi-agent system that communicates over a fading wireless channel and exploits its interference property. This phenomenon corrupts the desired information when data is…
This paper studies system stability and performance of multi-agent systems in the context of consensus problems over wireless multiple-access channels (MAC). We propose a consensus algorithm that exploits the broadcast property of the…
Adaptive multi-agent formation control, which requires the formation to flexibly adjust along with the quantity variations of agents in a decentralized manner, belongs to one of the most challenging issues in multi-agent systems, especially…
We consider a leader-follower formation control setup as an example for a multi-agent networked control system (NCS). This paper proposes an event-based wireless communication scheme with a MIMO precoder, that dynamically adapts to both the…
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…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
A simple feedback control algorithm is presented for distributed beamforming in a wireless network. A network of wireless sensors that seek to cooperatively transmit a common message signal to a Base Station (BS) is considered. In this…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
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…
This paper presents a consensus protocol that achieves max-consensus in multi-agent systems over wireless channels. Interference, a feature of the wireless channel, is exploited: each agent receives a superposition of broadcast data, rather…