Related papers: Communication-Free Bearing-Only Distributed Target…
This paper is mainly devoted to the distributed second-order multi-agent optimization problem with unbalanced and directed networks. To deal with this problem, a new distributed algorithm is proposed based on the local neighbor information…
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…
We consider a network of agents whose objective is for the aggregate of their states to converge to a solution of a linear program in standard form. Each agent has limited information about the problem data and can communicate with other…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can…
In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
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…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…
This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
In the paper, we formulate the target-pointing consensus problem where the headings of agents are required to point at a common target. Only a few agents in the network can measure the bearing information of the target. A two-step solution…
In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedback control input for such MASs depends no only on the…
We propose a scalable, distributed algorithm for the optimal transport of large-scale multi-agent systems. We formulate the problem as one of steering the collective towards a target probability measure while minimizing the total cost of…
This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional…