Related papers: Collaborative Safe Formation Control for Coupled M…

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…

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…

The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…

We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…

We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…

For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical…

As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relationship of node-level safety definitions for individual agents…

Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…

Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…

This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…

We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…

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…

The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…

Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…

This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…