Related papers: Distributed formation control of networked mechani…
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…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…
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…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
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…
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…
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
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…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
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 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…
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…
Controlling large-scale cyber-physical systems necessitates optimal distributed policies, relying solely on local real-time data and limited communication with neighboring agents. However, finding optimal controllers remains challenging,…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
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…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
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…