相关论文: Intrinsic Reduced Attitude Formation with Ring Int…

Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…

In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…

Modeling crowds has many important applications in games and computer animation. Inspired by the emergent following effect in real-life crowd scenarios, in this work, we develop a method for implicitly grouping moving agents. We achieve…

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…

Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed…

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…

This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…

This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…

In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$.…

This paper presents a spatio-temporal inverse optimal control framework for understanding interactions in multi-agent systems (MAS). We employ a graph representation approach and model the dynamics of interactions between agents as…

Minimizing the relative inertia of a statistical group with respect to the inertia of the overall sample defines an unique point, the in-focus, which constitutes a context-dependent measure of typical group tendency, biased in comparison to…

We investigate the emergence of periodic behavior in opinion dynamics and its underlying geometry. For this, we use a bounded-confidence model with contrarian agents in a convolution social network. This means that agents adapt their…

The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…

This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…

This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…

Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…

This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…

This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…

This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…

Here we investigate the dynamics of indirect reciprocity on networks, a type of social dynamics in which the attitude of individuals, either cooperative or antagonistic, toward other individuals changes over time by their actions and mutual…