Related papers: Formation Control of Nonlinear Multi-Agent Systems…
This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
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…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
Controlling nonlinear stochastic dynamical systems involves substantial challenges when the dynamics contain unknown and unstructured nonlinear state-dependent terms. For such complex systems, deep neural networks can serve as powerful…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
In this paper, the time-varying formation and time-varying formation tracking problems are solved for linear multi-agent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated to the digraph. The…
This paper investigates the optimal formation control problem of a class of nonlinear multi-agent systems(MASs) under Denial-of-Service(DoS) attacks. We design the optimal formation control law using an event-triggered control scheme to…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…
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 paper considers the problem of the bearing-based formation control with disturbance rejection for a group of agents under the leader-follower structure. The disturbances are in the form of a trigonometric polynomial with arbitrary…
This paper introduces an online data-driven learning scheme designed to address a novel problem in propensity formation and containment control for fully heterogeneous multi-agent systems. Unlike traditional approaches that rely on the…