相关论文: Finite-time Stabilization of Circular Formations u…

This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…

This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…

Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies…

A finite-time attitude synchronization problem is considered in this paper where the rotation of each rigid body is expressed using the axis-angle representation. One simple discontinuous and distributed controller using the vectorized…

A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…

This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…

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 the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…

This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…

We study convergence and stability properties of control-affine systems. Our considerations are motivated by the problem of stabilizing a control-affine system by means of output feedback for states in which the output function attains an…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

This paper deals with the finite-time stabilization of a class of nonlinear infinite-dimensional systems. First, we consider a bounded matched perturbation in its linear form. It is shown that by using a set-valued function, both the…

This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…

This paper presents a novel control design for vehicular formations, which is an alternative to the conventional second-order consensus protocol. The design is motivated by the closed-loop system, which we construct as first-order systems…

This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…