Related papers: Angle-Constrained Formation Control for Circular M…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance…
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate-based (BCB) control, which is fully distributed, does not…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…