Related papers: Distributed Leader-Follower Formation Tracking Con…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
This paper offers an algorithmic approach to plan continuum deformation of a multi-quadcopter system (MQS) in an obstacle-laden environment. We treat the MQS as finite number of particles of a deformable body coordinating under a…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d +1 leaders in a d-dimensional motion space and…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
A time-invariant, linear, distributed observer is described for estimating the state of an $m>0$ channel, $n$-dimensional continuous-time linear system of the form $ \dot{x} = Ax,\ y_i = C_i x,\ i \in \{1,2,\cdots, m\}$. The state $x$ is…
We propose an approach for mapping natural language instructions and raw observations to continuous control of a quadcopter drone. Our model predicts interpretable position-visitation distributions indicating where the agent should go…
The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
In this letter, we study the leader-synchronization problem for a class of partial differential equations with boundary control and in-domain coupling. We describe the problem in an abstract formulation and we specialize it to a network of…
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…