Related papers: Symmetry-Based Formation Control on Cycle Graphs U…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
A (discrete) dynamical system may have various symmetries and reversing symmetries, which together form its so-called reversing symmetry group. We study the set of 3D trace maps (obtained from two-letter substitution rules) which preserve…
In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a graph structure from a collection of polyhedral sets, which are…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
A transition from asymmetric to symmetric patterns in time-dependent extended systems is described. It is found that one dimensional cellular automata, started from fully random initial conditions, can be forced to evolve into complex…
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison…
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…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a…
In this paper we study reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions. Our approach emphasizes the role of…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many dynamical systems and exploiting this property offers the…
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…
Let $G$ be a finite group and let $S$ be an inverse-closed subset of $G$ not containing the identity. The Cayley graph $\mathrm{Cay}(G,S)$ has vertex set $G$, where two vertices $x$ and $y$ are adjacent if and only if $x^{-1}y \in S$.…
Classical spectral graph theory relies on the symmetry of the adjacency and Laplacian operators, which guarantees orthogonal eigenbases and energy-preserving Fourier transforms. However, real-world networks are intrinsically directed and…
The paper addresses the problem of multi-agent communication in networks with regular directed ring structure. These can be viewed as hierarchical extensions of the classical cyclic pursuit topology. We show that the spectra of the…
Symmetry is an important aesthetic criteria in graph drawing and network visualisation. Symmetric graph drawings aim to faithfully represent automorphisms of graphs as geometric symmetries in a drawing. In this paper, we design and…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
We consider the design of optimal localized feedback gains for one-dimensional formations in which vehicles only use information from their immediate neighbors. The control objective is to enhance coherence of the formation by making it…