Related papers: Multi-agent deployment under the leader displaceme…
A PDE-based control concept is developed to deploy a multi-agent system into desired formation profiles. The dynamic model is based on a coupled linear, time-variant parabolic distributed parameter system. By means of a particular coupling…
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
This paper focuses on the control of collective dynamics in large-scale multi-agent systems (MAS) operating in a 3-D space, with a specific emphasis on compensating for the influence of an unknown delay affecting the actuated leaders. The…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
Multi-agent path finding (MAPF) is an abstract model for the navigation of multiple robots in warehouse automation, where multiple robots plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
This paper considers the distributed H-infinity leader-following tracking problem for a class of discrete time multi-agent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
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 studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…