Related papers: Controlling the Swarm: Sparse Actuation and Collis…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
Controlling multi-agent systems is a persistent challenge in organismal, robotic and social collectives, especially when agents exhibit stochastic indecisiveness -- frequently switching between conflicting behavioral rules. Here, we…
We present a new stochastic particle system on networks which describes the flocking behavior and pattern formation. More precisely, we consider Cucker-Smale particles with decentralized formation control and multiplicative noises on…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
We formulate the swarming optimization problem as a weakly coupled, dissipative dynamical system governed by a controlled energy dissipation rate and initial velocities that adhere to the nonequilibrium Onsager principle. In this framework,…
Retardation between sensation and action is an inherent biological trait. Here we study its effect in the Vicsek model, which is a paradigmatic swarm model. We find that: (i) a discrete time delay in the orientational interactions…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this tutorial paper, a comprehensive survey is given on several major systematic approaches in dealing with delay-aware control problems, namely the equivalent rate constraint approach, the Lyapunov stability drift approach and the…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
The $n$-step delayed sharing information structure is investigated. This information structure comprises of $K$ controllers that share their information with a delay of $n$ time steps. This information structure is a link between the…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
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…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…