Related papers: Symmetry-Based Formation Control on Cycle Graphs U…
We analyse a dynamic control problem for scalar reaction-diffusion equations, focusing on the emulation of pattern formation through the selection of appropriate active controls. While boundary controls alone prove inadequate for…
We give a combinatorial characterization of generic frameworks that are minimally rigid under the additional constraint of maintaining symmetry with respect to a finite order rotation or a reflection. To establish these results we develop a…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
This document considers the formation control problem for a group of non-holonomic mobile robots under time delayed communications. The agents are assumed to be working under a directed and fixed communication topology. A recently developed…
This work establishes the equivalence of selected grid-forming control algorithms within the context of simplified theoretical models. Considered algorithms are droop control, Virtual Synchronous Machine (VSM) and matching control. It is…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…
We demonstrate dispersion tailoring by coupling the even and the odd modes in a line-defect photonic crystal waveguide. Coupling is determined ab-initio using group theory analysis, rather than by trial and error optimisation of the design…
Symmetric homology is an analog of cyclic homology in which the cyclic groups are replaced by symmetric groups. The foundations for the theory of symmetric homology of algebras are developed in the context of crossed simplicial groups using…
We study a distributed coordination mechanism for uniform agents located on a circle. The agents perform their actions in synchronised rounds. At the beginning of each round an agent chooses the direction of its movement from clockwise,…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
In this paper we provide the group inverse of the combinatorial Laplacian matrix of distance-biregular graphs using the so-called equilibrium measures for sets obtained by deleting a vertex. We also show that the two equilibrium arrays…
In complex multivariate systems, interactions among variables are defined by dependency structures, often encoded as directed acyclic graphs ($\text{DAGs}$). However, dependency structures can vary across subjects, and ignoring this…
A fundamental theorem of Laman characterises when a bar-joint framework realised generically in the Euclidean plane admits a non-trivial continuous deformation of its vertices. This has recently been extended in two ways. Firstly to…
Recent work has shown that if an isostatic bar and joint framework possesses non-trivial symmetries, then it must satisfy some very simply stated restrictions on the number of joints and bars that are `fixed' by various symmetry operations…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…