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In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
In this work, we introduce a novel gradient descent-based approach for optimizing control systems, leveraging a new representation of stable closed-loop dynamics as a function of two matrices i.e. the step size or direction matrix and value…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
This paper presents a generalized robust stability analysis for bearing-based formation control and network localization systems. For an undirected network, we provide a robust stability analysis in the presence of time-varying exogenous…
In this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its…
We study an optimal control problem for a simple transportation model on a path graph. We give a closed form solution for the optimal controller, which can also account for planned disturbances using feed-forward. The optimal controller is…
Transverse linearization-based approaches have become among the most prominent methods for orbitally stabilizing feedback design in regards to (periodic) motions of underactuated mechanical systems. Yet, in an $n$-dimensional state-space,…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
Traveling localized spots represent an important class of self-organized two-dimensional patterns in reaction-diffusion systems. We study open-loop control intended to guide a stable spot along a desired trajectory with desired velocity.…
Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…
This paper bridges optimization and control, and presents a novel closed-loop control framework based on natural gradient descent, offering a trajectory-oriented alternative to traditional cost-function tuning. By leveraging the Fisher…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…