Related papers: Forced Symmetric Formation Control
This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
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, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
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…
This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of meta-formations, which are formations obtained by connecting several rigid…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
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 addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. Using only bearing and relative velocity measurements,…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…