Related papers: Distributed Circumnavigation Using Bearing Based C…
This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology, where sensing capabilities are non-uniform across…
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…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to…
This paper investigates multi-agent frequencybased patrolling of intersecting, circle graphs under conditions where graph nodes have non-uniform visitation requirements and agents have limited ability to communicate. The task is modeled as…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative…
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…
This paper considers a multiagent, connected, robotic fleet where the primary functionality of the agents is sensing. A distributed multi-sensor control strategy maximizes the value of the collective sensing capability of the fleet, using…
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 considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…