Related papers: Finite-time Motion Planning of Multi-agent Systems…
This paper proposes a new distributed finite-time differentiator (DFD) for multi-agent systems (MAS) under directed graph, which extends the differentiator algorithm from the centralized case to the distributed case by only using…
In this paper, finite-time state consensus problems for continuous-time multi-agent systems are discussed, and two distributive protocols, which ensure that the states of agents reach an agreement in a finite time, are presented. By…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
In this paper, we study finite-time state consensus problems for continuous nonlinear multi-agent systems. Building on the theory of finite-time Lyapunov stability, we propose sufficient criteria which guarantee the system to reach a…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Two finite-time consensus protocols are proposed for multi-dimensional multi-agent systems, using direction-preserving and component-wise signum controls respectively. Filippov solutions and non-smooth analysis techniques are adopted to…
In this paper, we present an innovative risk-bounded motion planning methodology for stochastic multi-agent systems. For this methodology, the disturbance, noise, and model uncertainty are considered; and a velocity obstacle method is…
This paper presents a distributed, efficient, scalable and real-time motion planning algorithm for a large group of agents moving in 2 or 3-dimensional spaces. This algorithm enables autonomous agents to generate individual trajectories…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
We consider the multi-task coordination problem for multi-agent systems under the following objectives: 1. collision avoidance; 2. connectivity maintenance; 3. convergence to desired destinations. The paper focuses on the safety guaranteed…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Region sequences confine each agent to adjacent convex…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…