Related papers: Attitude Synchronization on SO(3) for Heterogeneou…
We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D Euclidean space. The control signal at a vehicle is allowed to use relative position and velocity…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
This paper proposes an adaptation mechanism for heterogeneous multi-agent systems to align the agents' internal parameters, based on enforced consensus through strong couplings. Unlike homogeneous systems, where exact consensus is…
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
The Earth, a temporal complex system, is witnessing a shift in research on its coordinate system, moving away from conventional static positioning toward embracing dynamic modeling. Early positioning concentrates on static natural…
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 novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…
In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a…
In this paper, we present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
Two novel robust nonlinear stochastic full pose (i.e, attitude and position) estimators on the Special Euclidean Group SE(3) are proposed using the available uncertain measurements. The resulting estimators utilize the basic structure of…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
Despite recent progress in calibration-free monocular SLAM via 3D vision foundation models, scale drift remains severe on long sequences. Motion-agnostic partitioning breaks contextual coherence and causes zero-motion drift, while…
This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in…
In this paper, we address the distributed pose estimation problem for multi-agent systems, where the agents have unknown static positions and time-varying orientations. The interaction graph is assumed to be directed and acyclic with two…
We propose a novel performance metric for articulated robots with distributed directional sensors called the sensor observability analysis (SOA). These robot-mounted distributed directional sensors (e.g., joint torque sensors) change their…
The problem of placing or selecting sensors and control nodes plays a pivotal role in the operation of dynamic networks. This paper proposes optimal algorithms and heuristics to solve the simultaneous sensor and actuator selection problem…