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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…
For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, controllability of multi-agent systems under directed topologies is studied, especially on leader selection…
A distributed adaptive control strategy is developed for heterogeneous multiagent systems in nonlinear Brunovsky form with \({\pd}\)-dimensional $n^{\text{th}}$-order dynamics, operating under time-triggered switching communication…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This paper deals with data-driven output synchronization for heterogeneous leader-follower linear multi-agent systems. Given a multi-agent system that consists of one autonomous leader and a number of heterogeneous followers with external…
The central result of this paper is the analysis of an optimization problem which allows one to assess the limiting performance of a team of two agents who coordinate their actions. One agent is fully informed about the past and future…
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…
The paper examines the learning mechanism of adaptive agents over weakly-connected graphs and reveals an interesting behavior on how information flows through such topologies. The results clarify how asymmetries in the exchange of data can…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…
Reliable multi-agent trajectory prediction is crucial for the safe planning and control of autonomous systems. Compared with single-agent cases, the major challenge in simultaneously processing multiple agents lies in modeling complex…
Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
The original Leader-Follower (LF) model partitions all agents whose opinion is a number in $[-1,1]$ to a follower group, a leader group with a positive target opinion in $[0,1]$ and a leader group with a negative target opinion in $[-1,0]$.…
In both animal and cell populations, the presence of leaders often underlies the success of collective migration processes, which we characterise by a group maintaining a cohesive configuration that consistently moves toward a target. We…
Guided cooperation allows intelligent agents with heterogeneous capabilities to work together by following a leader-follower type of interaction. However, the associated control problem becomes challenging when the leader agent does not…