Related papers: Collision-Free Bearing-Driven Formation Tracking f…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…
The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
Most car-following models were originally developed for lane-based traffic. Over the past two decades, efforts have been made to calibrate car-following models for non-lane-based traffic. However, traffic conditions with varying vehicle…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact…
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…
The synthesis of a smooth tracking control for Euler-Lagrangian (EL) systems under stringent state, input, and temporal (SIT) constraints is challenging. In contrast to existing methods that utilize prior knowledge of EL model parameters…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…