Related papers: The distance-based formation controller design for…
This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar to the first-order case as recently discussed in the…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…
Multi-agent coordination control usually involves a potential function that encodes information of a global control task, while the control input for individual agents is often designed by a gradient-based control law. The property of…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
Port-Hamiltonian theory is an established way to describe nonlinear physical systems widely used in various fields such as robotics, energy management, and mechanical engineering. This has led to considerable research interest in the…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
This paper proposes a distributed scheme with different estimators for the event-triggered formation control of polytopic homogeneously scheduled linear parameter-varying (LPV) multi-agent systems (MAS). Each agent consists of a…
Many multi-agent systems in practice are decentralized and have dynamically varying dependencies. There has been a lack of attempts in the literature to analyze these systems theoretically. In this paper, we propose and theoretically…
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…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
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 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…
Dynamical systems can be used to model a broad class of physical processes, and conservation laws give rise to system properties like passivity or port-Hamiltonian structure. An important problem in practical applications is to steer…