Related papers: Adaptive Distributed Observer-based Model Predicti…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
Model predictive control (MPC) for uncertain systems in the presence of hard constraints on state and input is a non-trivial problem, and the challenge is increased manyfold in the absence of state measurements. In this paper, we propose an…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints, and keep the leader within its camera…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
The problem of disturbance rejection/attenuation for constant-input delayed linear multi-agent systems (MASs) with the directed communication topology is tackled in this paper, where a classic model reduction technique is introduced to…
This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
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)…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
We consider the distributed $H_\infty$ estimation problem with an additional requirement of resilience to biasing attacks. An attack scenario is considered where an adversary misappropriates some of the observer nodes and injects biasing…
Standard model predictive control strategies imply the online computation of control inputs at each sampling instance, which traditionally limits this type of control scheme to systems with slow dynamics. This paper focuses on distributed…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
We present an algorithm for controlling and scheduling multiple linear time-invariant processes on a shared bandwidth limited communication network using adaptive sampling intervals. The controller is centralized and computes at every…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation…
Recent multi-agent actor-critic methods have utilized centralized training with decentralized execution to address the non-stationarity of co-adapting agents. This training paradigm constrains learning to the centralized phase such that…