Related papers: Distributed Non-Uniform Scaling Control of Multi-A…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced…
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 consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
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…
We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…
This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
Complex-valued Laplacians have been shown to be powerful tools in the study of distributed coordination of multi-agent systems in the plane including formation shape control problems and set surrounding control problems. In this paper, we…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
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…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…