Related papers: Target Enclosing Control for Nonholonomic Multi-Ag…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
This paper addresses the fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…
The integration of autonomous vehicles (AVs) into the existing transportation infrastructure offers a promising solution to alleviate congestion and enhance mobility. This research explores a novel approach to traffic optimization by…
This article focuses on the problem of adaptive tracking control for a specific type of nonlinear system that is subject to full-state constraints via a hybrid event-triggered control (HETC) strategy. With the auxiliary system, we proposed…
Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages…
Multi-agent navigation in unknown and cluttered environments has broad applications, yet remains fundamentally challenging. In particular, dense agent-agent and agent-obstacle reactive interactions can exacerbate the inherent competition…
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or anchors. A novel approach, referred to as…
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…
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…