Related papers: Forced Symmetric Formation Control
This research provides algorithms and numerical methods to geometrically control the magnitude of the internal and external forces in the reciprocal diagrams of 3D/Polyhedral Graphic statics (3DGS). In 3DGS, the form of the structure and…
Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dynamics and reward both exhibit the same symmetry; however,…
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,…
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…
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
We derive a dimension-reduction limit for a three-dimensional rod with material voids by means of $\Gamma$-convergence. Hereby, we generalize the results of the purely elastic setting [57] to a framework of free discontinuity problems. The…
This paper proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is the novel design of weights in the…
We develop a rigidity theory for bar-joint frameworks in Euclidean $d$-space in which specified classes of edges are allowed to change length in a coordinated fashion that requires differences of lengths to be preserved within each class.…
The reliable and precise generation of quantum unitary transformations is essential to the realization of a number of fundamental objectives, such as quantum control and quantum information processing. Prior work has explored the optimal…
We characterize the combinatorial types of symmetric frameworks in the plane that are minimally generically symmetry-forced infinitesimally rigid when the symmetry group consists of rotations and translations. Along the way, we use tropical…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…
This paper introduces new structures called conic frameworks and their rigidity. They are composed by agents and a set of directed constraints between pairs of agents. When the structure cannot be flexed while preserving the constraints, it…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
In this paper, we study the maximum edge augmentation problem in directed Laplacian networks to improve their robustness while preserving lower bounds on their strong structural controllability (SSC). Since adding edges could adversely…
Following a review of related results in rigidity theory, we provide a construction to obtain generically universally rigid frameworks with the minimum number of edges, for any given set of n nodes in two or three dimensions. When a set of…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling parameters. We firstly…
Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d +1 leaders in a d-dimensional motion space and…