Related papers: Collision-Free Bearing-Driven Formation Tracking f…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. Using only bearing and relative velocity measurements,…
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…
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 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…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…
Perfect tracking control for real-world Euler-Lagrange systems is challenging due to uncertainties in the system model and external disturbances. The magnitude of the tracking error can be reduced either by increasing the feedback gains or…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied in the existing works, this paper focuses on the case where…
This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional…
This paper studies cooperative tracking problem of heterogeneous Euler-Lagrange systems with an uncertain leader. Different from most existing works, system dynamic knowledge of the leader node is unaccessible to any follower node in our…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully…
This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
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…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…