Related papers: Safe Region Multi-Agent Formation Control With Vel…
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…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
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 develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
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, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…
We investigate the problem of safe control synthesis for systems operating in environments with uncontrollable agents whose dynamics are unknown but coupled with those of the controlled system. This scenario naturally arises in various…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
Robotic access monitoring of multiple target areas has applications including checkpoint enforcement, surveillance and containment of fire and flood hazards. Monitoring access for a single target region has been successfully modeled as a…
We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…
The paper focuses on designing a controller for unknown dynamical multi-agent systems to achieve temporal reach-avoid-stay tasks for each agent while preventing inter-agent collisions. The main objective is to generate a spatiotemporal tube…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…
Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This can lead to challenging requirements for path planning. We derive an assignment method that not only…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…