相关论文: Optimal Time-Invariant Formation Tracking for a Se…

Target tracking entails the estimation of the evolution of the target state over time, namely the target trajectory. Different from the classical state space model, our series of studies, including this paper, model the collection of the…

For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…

We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…

Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…

This paper presents a Newton-based stochastic extremum-seeking control method for real-time optimization in multi-input systems with distinct input delays. It combines predictor-based feedback and Hessian inverse estimation via stochastic…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

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…

Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…

This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…

This paper considers a leader-following formation control problem for heterogeneous, second-order, uncertain, input-affine, nonlinear multi-agent systems modeled by a directed graph. A tunable, three-layer neural network (NN) is proposed…

Globally optimal free flight trajectory optimization can be achieved with a combination of discrete and continuous optimization. A key requirement is that Newton's method for continuous optimization converges in a sufficiently large…

This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…

The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…

The time-varying output formation tracking for the heterogeneous multi-agent systems (MAS) is investigated in this paper. First, a distributed observer is constructed for followers to estimate the states of the leader, which can ensure that…

Route planning for a fleet of vehicles is an important task in applications such as package delivery, surveillance, or transportation, often integrated within larger Intelligent Transportation Systems (ITS). This problem is commonly…

This paper studies optimal consensus tracking problem of heterogeneous linear multi-agent systems. By introducing tracking error dynamics, the optimal tracking problem is reformulated as finding a Nash-equilibrium solution of a multi-player…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…

The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…