Related papers: Symmetry-Based Formation Control on Cycle Graphs U…
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced…
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…
We discuss smooth nonlinear control systems with symmetry. For a free and proper action of the symmetry group, the reduction of symmetry gives rise to a reduced smooth nonlinear control system. If the action of the symmetry group is only…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
We prove a squeezing/stability theorem for delta-epsilon controlled L-groups when the control map is a fibration on a finite polyhedron. A relation with boundedly-controlled L-groups is also discussed.
Symmetry is a fundamental concept that has been extensively studied, yet detecting it in complex scenes remains a significant challenge in computer vision. Recent heatmap-based approaches can localize potential regions of symmetry axes but…
In this paper we study the optimal formation control of multiple agents whose interaction parameters are adjusted upon a cost function consisting of both the control energy and the geometrical performance. By optimizing the interaction…
For a group $G$, the generating graph $\Gamma(G)$ is defined as the graph with the vertex set $G$, and any two distinct vertices of $\Gamma(G)$ are adjacent if they generate $G$. In this paper, we study the generating graph of $D_n,$ where…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
The work done in this paper, proposes a complex Laplacian-based distributed control scheme for convergence in the multi-agent network. The proposed scheme has been designated as cascade formulation. The proposed technique exploits the…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
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…
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of group invariance enables a cascade decomposition of the…
The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
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 work proposes an extension to the leader-first follower (LFF) class of graphs used to solve the bearing-only formation control problem over directed graphs. The first contribution provides an equilibrium, stability, and convergence…
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…