Related papers: Local convergence of multi-agent systems towards t…
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…
Gradient descent methods have been widely used for organizing multi-agent systems, in which they can provide decentralized control laws with provable convergence. Often, the control laws are designed so that two neighboring agents…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
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…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
This paper presents thorough mathematical modeling, control law development, and simulation of virtual structure formations which are inspired by the characteristics of rigid bodies. The stable constraint forces that establish the rigidity…
In this paper, a distributed multi-agent formation control driven by the gradient of the Lennard-Jones potential is analyzed. For collision-free initial data, we prove global well-posedness together with a uniform lower bound on all…
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four…
Formation control algorithms for multi-agent systems have gained much attention in the recent years due to the increasing amount of mobile and aerial robotic swarms. The design of safe controllers for these vehicles is a substantial aspect…
Modeling collective motion in multi-agent systems has gained significant attention. Of particular interest are sufficient conditions for flocking dynamics. We present a generalization of the multi-agent model of Olfati--Saber with nonlinear…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
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…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…
This paper discusses generalized weak rigidity theory, and aims to apply the theory to formation control problems with a gradient flow law. The generalized weak rigidity theory is utilized in order that desired formations are characterized…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scenarios, smooth, unbiased control signals save energy and…
In this paper, we propose a novel distributed formation control strategy, which is based on the measurements of relative position of neighbors, with global orientation estimation in 3-dimensional space. Since agents do not share a common…
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…
In this paper, we present a multi-agent framework for real-time large-scale 3D reconstruction applications. In SLAM, researchers usually build and update a 3D map after applying non-linear pose graph optimization techniques. Moreover, many…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…