Related papers: Formation control for multiple agents with local m…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…

Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…

The paper presented in this article deals with the issue of distributed cooperative formation of multi-agent systems (MASs). It proposes the use of appropriate neural network control methods to address formation requirements (uncertainties…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…

The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…

The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…

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…

Formation control algorithms for multi-agent systems have gained much attention in the recent years due to the increasing amount of mobile and aerial robotic swarms. The design of safe controllers for these vehicles is a substantial aspect…

This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…

Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…

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 presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…

We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of…

This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…

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…

In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…

This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…

In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation…