Related papers: Leaderless Collective Motion in Affine Formation C…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
In the field of distributed system, Arbitrary Pattern Formation (APF) problem is an extensively studied problem. The purpose of APF is to design an algorithm to move a swarm of robots to a particular position on an environment (discrete or…
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…
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…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…
In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
This paper presents a distributed, efficient, scalable and real-time motion planning algorithm for a large group of agents moving in 2 or 3-dimensional spaces. This algorithm enables autonomous agents to generate individual trajectories…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
In this paper, we address the problem of manipulating multi-particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particles through a series of shaping and pushing actions using…
A novel local interaction control method (LICM) is proposed in this paper to realize the formation control of multi-agent system (MAS). A local interaction leader follower (LILF) structure is provided by coupling the advantages of…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…
This paper presents an experimental validation of decentralized affine transformation (AT) in multi-agent systems using teams of mini-quadcopters. The AT framework enables an agent team to safely navigate constrained, obstacle-rich…