Related papers: Distributed Event-Triggered Distance-Based Formati…
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…
Concerning general multi-agent systems with limited communication, this paper proposes distributed formation control protocols under adaptive event-triggered schemes to operate affine transformations of nominal formations. To accommodate…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
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…
In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
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…
This paper studies the real-time implementation of distributed controllers on networked cyber-physical systems. We build on the strengths of event- and self-triggered control to synthesize a unified approach, termed team-triggered, where…
In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent…
We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where…
With the gradual advancement of a novel idea of the distributed control of the multiagent systems, an event-triggered control protocol has received significant research attention, especially in designing the controller for the nonlinear…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
Event-triggered and self-triggered control have recently been proposed as implementation strategies that considerably reduce the resources required for control. Although most of the work so far has focused on closing a single control loop,…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…