Related papers: Collision-free Formation Control of Multiple Nano-…
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…
With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…
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…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
This letter proposes a distributed 3D leader-follower formation (3D-LFF) control framework for multi-UAV systems that achieves formation tracking while enforcing perception safety constraints. Maintaining safe, vision-based 3D-LFF is…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…