Related papers: Distance-Based Formation Tracking with Unknown Bou…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
The maximum surveillance of a target which is holding course is considered, wherein an observer vehicle aims to maximize the time that a faster target remains within a fixed-range of the observer. This entails two coupled phases: an…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
We consider bounded extremum seeking controls for time-varying linear systems with uncertain coefficient matrices and measurement uncertainty. Using a new change of variables, Lyapunov functions, and a comparison principle, we provide…
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. 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 introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the…
This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
We consider the problem of vehicle following, where a safety distance to the leader vehicle is guaranteed at all times and a favourite velocity is reached as far as possible. We introduce the funnel cruise controller as a novel universal…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…
The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…
We model and analyze a herding problem, where the drivers try to steer the evaders' trajectories while the evaders always move away from the drivers. This problem is motivated by the guidance-by-repulsion model [Escobedo, R., Iba\~nez, A.…