相关论文: Broadcast Guidance of Agents in Deviated Linear Cy…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to…
We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is a remote sensor (e.g., a radar station) that can sense the evader's location upon a…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
Assessing whether an agent has abandoned a goal or is actively pursuing it is important when multiple agents are trying to achieve joint goals, or when agents commit to achieving goals for each other. Making such a determination for a…
This paper addresses a coordination problem between two agents (Agents $1$ and $2$) in the presence of a noisy communication channel which depends on an external system state $\{x_{0,t}\}$. The channel takes as inputs both agents' actions,…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
A time-invariant, linear, distributed observer is described for estimating the state of an $m>0$ channel, $n$-dimensional continuous-time linear system of the form $ \dot{x} = Ax,\ y_i = C_i x,\ i \in \{1,2,\cdots, m\}$. The state $x$ is…
In this work, a dynamic system is controlled by multiple sensor-actuator agents, each of them commanding and observing parts of the system's input and output. The different agents sporadically exchange data with each other via a common bus…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
In this paper, we derive a kinetic description of swarming particle dynamics in an interacting multi-agent system featuring emerging leaders and followers. Agents are classically characterized by their position and velocity plus a…
This paper addresses distributed average tracking of physical second-order agents with heterogeneous nonlinear dynamics, where there is no constraint on input signals. The nonlinear terms in agents' dynamics are heterogeneous, satisfying a…
This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
The leader-following consensus problem of multi-agent systems over finite fields ${\mathbb F}_p$ is considered in this paper. Dynamics of each agent is governed by a linear equation over ${\mathbb F}_p$, where a distributed control protocol…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
We consider discrete dynamical systems of "ant-like" agents engaged in a sequence of pursuits on a graph environment. The agents emerge one by one at equal time intervals from a source vertex $s$ and pursue each other by greedily attempting…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…