Related papers: Attitude Synchronization on SO(3) for Heterogeneou…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…
We study a decentralized dispatch coordination problem in a multi-agent supply chain setting with shared logistics capacity. We propose symmetric (identical) dispatch strategies for all agents, enabling efficient coordination without…
Self-organizing map(SOM) have been widely applied in clustering, this paper focused on centroids of clusters and what they reveal. When the input vectors consists of time, latitude and longitude, the map can be strongly linked to physical…
This paper studies regulated state synchronization of discrete-time homogeneous networks of non-introspective agents in presence of unknown non-uniform input delays. A scale free protocol is designed based on additional information…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
This paper studies regulated state synchronization of homogeneous networks of non-introspective agents in presence of unknown nonuniform input delays. A scale-free protocol is designed based on additional information exchange, which does…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
This paper addresses distributed average tracking for a group of heterogeneous physical agents consisting of single-integrator, double-integrator and Euler-Lagrange dynamics. Here, the goal is that each agent uses local information and…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
This paper introduces a novel approach of clustering, which is based on group consensus of dynamic linear high-order multi-agent systems. The graph topology is associated with a selected multi-agent system, with each agent corresponding to…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
A truly generalizable approach to rigid segmentation and motion estimation is fundamental to 3D understanding of articulated objects and moving scenes. In view of the closely intertwined relationship between segmentation and motion…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
This paper proposes implicit cooperation, a framework enabling decentralized agents to approximate optimal coordination in local energy markets without explicit peer-to-peer communication. We formulate the problem as a decentralized…
Vehicular Ad-hoc Networks (VANETs) serve as a critical enabler for intelligent transportation systems. However, their practical deployment faces a core governance dilemma: the network topology requires a dynamic trade-off between robustness…
This paper introduces a novel social preference-aware decentralized safe control framework to address the responsibility allocation problem in multi-agent collision avoidance. Considering that agents do not necessarily cooperate in…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…