相关论文: Scalable Vehicle Team Continuum Deformation Coordi…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…
This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in…
We study the deployment of a first-order multi-agent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest…
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints, and keep the leader within its camera…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…
This paper investigates a linear quadratic mean field leader-follower team problem, where the model involves one leader and a large number of weakly-coupled interactive followers. The leader and the followers cooperate to optimize the…
We consider the design of optimal localized feedback gains for one-dimensional formations in which vehicles only use information from their immediate neighbors. The control objective is to enhance coherence of the formation by making it…
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…
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…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…