相关论文: Maneuvering and robustness issues in undirected di…

This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…

This paper addresses the problem of collective circular motion control for unicycle agents, with the objective of achieving phase coordination of their velocity vectors while ensuring that their trajectories remain confined within a…

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…

For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…

Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…

This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…

We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

We study networks with linear dynamics where the presence of symmetries of the pair (A,B) induces a partition of the network nodes in clusters and the matrix A is not restricted to be in Laplacian form. For these networks, an invariant…

We consider the problem of steering a collection of n particles that obey identical n-dimensional linear dynamics via a common state feedback law towards a rearrangement of their positions, cast as a controllability problem for a dynamical…

This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…

This paper develops a novel physics-inspired traffic coordination approach and applies it to Unmanned Aircraft System (UAS) traffic management. We extend available physics-inspired approaches previously applied to 1-D traffic flow on…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…

This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We…