Related papers: Forced Variational Integrators for the Formation C…
In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or anchors. A novel approach, referred to as…
Euler-Lagrange equations and variational integrators are developed for Lagrangian mechanical systems evolving on a product of two-spheres. The geometric structure of a product of two-spheres is carefully considered in order to obtain global…
In this work, the benefits of the phase fitting technique are embedded in high order discrete Lagrangian integrators. The proposed methodology creates integrators with zero phase lag in a test Lagrangian in a similar way used in phase…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions for continuous-time and discrete-time systems. We…
We present a combination of tools which allows for investigation of the coupled orbital and rotational dynamics of two rigid bodies with nearly arbitrary shape and mass distribution, under the influence of their mutual gravitational…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
This paper presents the formulation and analysis of a two time-scale optimization algorithm for multi-agent coordination for the purpose of distributed beamforming. Each agent is assumed to be randomly positioned with respect to each other…
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are differentially flat. Methods of Lagrangian Reduction under…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
In this paper we combine two powerful computational techniques, well-tempered metadynamics and time lagged independent component analysis. The aim is to develop a new tool for studying rare events and exploring complex free energy…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled…
In this paper, a distributed multi-agent formation control driven by the gradient of the Lennard-Jones potential is analyzed. For collision-free initial data, we prove global well-posedness together with a uniform lower bound on all…