Related papers: Collisionless and Decentralized Formation Control …
We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the…
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…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
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…
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…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
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…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
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…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…