Related papers: Flexible Distributed Flocking Control for Multi-ag…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at…
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…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent…
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…
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…
Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms. One of the key bottlenecks lies in the design of an…
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 considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
This note is devoted to the distributed optimization problem of multi-agent systems with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. Two distributed constrained algorithms with nonconvex…
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
Formation control (FC) of multi-agent plays a critical role in a wide variety of fields. In the absence of absolute positioning, agents in FC systems rely on relative position measurements with respect to their neighbors. In distributed…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…