Related papers: 3D Directed Formation Control with Global Shape Co…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
This letter proposes a distributed 3D leader-follower formation (3D-LFF) control framework for multi-UAV systems that achieves formation tracking while enforcing perception safety constraints. Maintaining safe, vision-based 3D-LFF is…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
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…
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…
A multi-agent system comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention for their wide-ranging applications. Within this context, formation control emerges as a…
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…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the…
We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of…
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…
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
Controlling the shapes of surfaces provides a novel way to direct self-assembly of colloidal particles on those surfaces and may be useful for material design. This motivates the investigation of an optimal control problem for surface shape…
In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…