Related papers: Multicluster Design and Control of Large-Scale Aff…
Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which…
Affine formation control (AFC) is a subset of formation control methods that enables coordinated multiagent movement while preserving affine relationships, and has recently gained increasing popularity due to its broad applicability across…
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of robot swarms. Specifically, the resulting collective motion…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifying the original weights that build the Laplacian matrix so…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
This paper introduces and analyzes a new class of mean-field control (\textsc{MFC}) problems in which agents interact through a \emph{fixed but controllable} network structure. In contrast with the classical \textsc{MFC} framework -- where…
Coordinating large populations of autonomous agents, such as UAV swarms or satellite constellations, poses significant computational challenges for traditional multi-agent control methods. This paper introduces a new optimization framework…
Current affine formation maneuver of multi-agent systems (MASs) relys on the affine localizability determined by generic assumption for nominal configuration and global construction manner. This does not live up to practical constraints of…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
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…
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…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Fair clustering is crucial for mitigating bias in unsupervised learning, yet existing algorithms often suffer from quadratic or super-quadratic computational complexity, rendering them impractical for large-scale datasets. To bridge this…
For most existing prescribed performance formation control methods, performance requirements are not directly imposed on the relative states between agents but on the consensus error, which lacks a clear physical interpretation of their…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…
Active Force Control (AFC) is an important scheme for tackling high-precision robotic assembly. Classical force controllers are highly surface-dependent: the controller must be carefully tuned for each type of surface in contact, in order…