Related papers: Efficient Consensus-based Formation Control With D…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
Coherent communications aim to support higher data rates and extended connectivity at lower power consumption compared with traditional point-to-point transmissions. The typical setting of coherent communication schemes is based on a single…
In this paper, the communication effort required in a multi-agent system (MAS) is minimized via an explicit optimization formulation. The paper considers a MAS of single-integrator agents with bounded inputs and a time-invariant…
One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…
We propose and analyse a model predictive control (MPC) strategy tailored for networks of underwater agents tasked with maintaining formation while following a shared path and using acoustic communication channels. The strategy accommodates…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
We propose a decentralized stochastic control solution for the broadcast message dissemination problem in wireless ad hoc networks with slow fading channels. We formulate the control problem as a dynamic robust game which is well justified…
This paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
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…
This paper proposes a continuous-time dynamic active weighted average consensus algorithm in which the agents can alternate between active and passive modes depending on their ability to access to their reference input. The objective is to…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus…
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)…
In this paper, we investigate the architecture of an optimal controller that maximizes the convergence speed of a consensus protocol with single-integrator dynamics. Under the assumption that communication delays increase with the number of…
This paper studies a wireless networked control system with multiple base stations (BSs) cooperatively coordinating the wireless control of a number of subsystems each consisting of a plant, a sensor, and an actuator. In this system, each…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…