Related papers: Unit Dual Quaternion Directed Graphs, Formation Co…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation,…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
Traditional directed graph signal processing generally depends on fixed representation matrices, whose rigid structures limit the model's ability to adapt to complex graph topologies. To address this issue, this study employed the unified…
Three kinds of dual quaternion matrices associated with the mutual visibility graph, namely the relative configuration adjacency matrix, the logarithm adjacency matrix and the relative twist adjacency matrix, play important roles in…
Graph representation plays an important role in the field of financial risk control, where the relationship among users can be constructed in a graph manner. In practical scenarios, the relationships between nodes in risk control tasks are…
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…
In this paper, we study dual quaternion and dual complex unit gain graphs and their spectral properties in a unified frame of dual unit gain graphs. Unit dual quaternions represent rigid movements in the 3D space, and have wide applications…
We introduce the notion of balance for directed graphs: a weighted directed graph is $\alpha$-balanced if for every cut $S \subseteq V$, the total weight of edges going from $S$ to $V\setminus S$ is within factor $\alpha$ of the total…
Representing graphs as quantum states is becoming an increasingly important approach to study entanglement of mixed states, alternate to the standard linear algebraic density matrix-based approach of study. In this paper, we propose a…
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…
In this two-part paper, we identify a broad class of decentralized output-feedback LQG systems for which the optimal control strategies have a simple intuitive estimation structure and can be computed efficiently. Roughly, we consider the…
In this paper, we propose a distributed algorithm, called Directed-Distributed Gradient Descent (D-DGD), to solve multi-agent optimization problems over directed graphs. Existing algorithms mostly deal with similar problems under the…
Formation control problems can be expressed as linear quadratic discrete-time games (LQDTG) for which Nash equilibrium solutions are sought. However, solving such problems requires solving coupled Riccati equations, which cannot be done in…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the…
This paper deals with spectral graph theory issues related to questions of monotonicity and comparison of eigenvalues. We consider finite directed graphs with non symmetric edge weights and we introduce a special self-adjoint operator as…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…
This paper is concerned with the distributed linear quadratic optimal control problem. In particular, we consider a suboptimal version of the distributed optimal control problem for undirected multi-agent networks. Given a multi-agent…
This paper considers the problem of embedding directed graphs in Euclidean space while retaining directional information. We model a directed graph as a finite set of observations from a diffusion on a manifold endowed with a vector field.…