Related papers: Distributed Event-Triggered Distance-Based Formati…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
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…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
This paper investigates the distributed event-triggered control problem for a class of uncertain pure-feedback nonlinear multi-agent systems (MASs) with polluted feedback. Under the setting of event-triggered control, substantial challenges…
In this paper, we explore a multi-agent reinforcement learning approach to address the design problem of communication and control strategies for multi-agent cooperative transport. Typical end-to-end deep neural network policies may be…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…
We develop an event-triggered control strategy for a weighted-unbalanced directed homogeneous robot network to reach a dynamic consensus in this work. We present some guarantees for synchronizing a robot network when all robots have access…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling parameters. We firstly…
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…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
This paper proposes three different distributed event-triggered control algorithms to achieve leader-follower consensus for a network of Euler-Lagrange agents. We firstly propose two model-independent algorithms for a subclass of…