Related papers: Extending the Leader-First Follower Structure for …
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…
Directed graphs naturally model systems with asymmetric, ordered relationships, essential to applications in biology, transportation, social networks, and visual understanding. Generating such graphs enables tasks such as simulation, data…
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…
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…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
The optimization problem of the minimum set of leaders for the controllability of undirected graphs are addressed. It is difficult to find not only its optimal solution but also its approximate algorithm. We propose a new concept, namely…
This paper considers a leader-following formation control problem for heterogeneous, second-order, uncertain, input-affine, nonlinear multi-agent systems modeled by a directed graph. A tunable, three-layer neural network (NN) is proposed…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
This paper presents a novel factor graph-based approach to solve the discrete-time finite-horizon Linear Quadratic Regulator problem subject to auxiliary linear equality constraints within and across time steps. We represent such optimal…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
In this paper we investigate a relaxed concept of controllability, known in the literature as herdability, namely the capability of a system to be driven towards the(interior of the) positive orthant. Specifically, we investigate…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
In this paper, we study a linear-quadratic partially observed Stackelberg stochastic differential game problem in which a single leader and multiple followers are involved. We consider more practical formulation for partial information that…
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a…
Control-flow graphs (CFGs) of structured programs are well known to exhibit strong sparsity properties. Traditionally, this sparsity has been modeled using graph parameters such as treewidth and pathwidth, enabling the development of faster…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
This paper addresses the problem of bearing-only formation control in $d~(d\geq 2)$-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE,…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…