Related papers: Pattern formation using an intrinsic optimal contr…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Formation control of multi-agent systems has been a prominent research topic, spanning both theoretical and practical domains over the past two decades. Our study delves into the leader-follower framework, addressing two critical,…
The first-order optimality conditions for a generic nonlinear optimization problem are generated as part of the terminal transversality conditions of an optimal control problem. It is shown that the Lagrangian of the optimization problem is…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
A distributed adaptive control strategy is developed for heterogeneous multiagent systems in nonlinear Brunovsky form with \({\pd}\)-dimensional $n^{\text{th}}$-order dynamics, operating under time-triggered switching communication…
This paper studies optimal consensus tracking problem of heterogeneous linear multi-agent systems. By introducing tracking error dynamics, the optimal tracking problem is reformulated as finding a Nash-equilibrium solution of a multi-player…
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…