Related papers: Safe Region Multi-Agent Formation Control With Vel…

Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…

Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…

Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…

A multi-agent system comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention for their wide-ranging applications. Within this context, formation control emerges as a…

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 investigates the safety guaranteed problem in spacecraft inspection missions, considering multiple position obstacles and logical attitude forbidden zones. In order to address this issue, we propose a control strategy based on…

In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…

In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…

This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…

Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…

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…

This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…

Minimum circle circumnavigation is proposed in this paper, which is of special value in target monitoring, capturing and/or attacking. In this paper, a safe minimum circle circumnavigation of multiple targets based on bearing measurements…

We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…

This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…

The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…

One salient feature of cooperative formation tracking is its distributed nature that relies on localized control and information sharing over a sparse communication network. That is, a distributed control manner could be prone to malicious…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…