Related papers: Forced Symmetric Formation Control
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…
In this paper, we explore the interplay between symmetry and fracton order, motivated by the analogous close relationship for topologically ordered systems. Specifically, we consider models with 3D planar subsystem symmetry, and show that…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
We show that, if $\Gamma$ is a point group of $\mathbb{R}^{k+1}$ of order two for some $k\geq 2$ and $\mathcal S$ is a $k$-pseudomanifold which has a free automorphism of order two, then either $\mathcal S$ has a $\Gamma$-symmetric…
The synthetic control method (SCM) is a widely used tool for evaluating causal effects of policy changes in panel data settings. Recent studies have extended its framework to accommodate complex outcomes that take values in metric spaces,…
This paper presents a new approach to distributed nonlinear control for formation acquisition and maintenance, inspired by recent results on cyclic topologies and based on tools from contraction theory. First, simple nonlinear control laws…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
In this article, we formulate a monolithic optimal control method for general time-dependent Fluid-Structure Interaction (FSI) systems with large solid deformation. We consider a displacement-tracking type of objective with a constraint of…
Symmetry properties of the evolution equation and the state to be controlled are shown to determine the basic features of the linear control of unstable orbits. In particular, the selection of control parameters and their minimal number are…
For a compact Riemannian manifold with boundary, endowed with a magnetic potential $\alpha$, we consider the problem of restoring the metric $g$ and the magnetic potential $\alpha$ from the values of the Ma\~n\'e action potential between…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
We investigate the interactions of discrete zero-form and one-form global symmetries in (1+1)d theories. Focus is put on the interactions that the symmetries can have on each other, which in this low dimension result in 2-group symmetries…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
Collective motion in animal groups provide examples of emergent, decentralised coordination. Here, we examine a bottom-up model of collective behavior based on Future State Maximisation (FSM). In this model agents seek to maximise the…
This paper studies decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Since the inter-vehicle distance cannot be measured, the target…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…