相关论文: Dynamic consensus with prescribed convergence time…

This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…

This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…

This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…

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…

This paper considers the problem of dynamic average consensus algorithm design for a group of communicating agents. This problem consists of designing a distributed algorithm that enables a group of agents with communication and computation…

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…

In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…

This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…

In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…

The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…

We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…

We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…

This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…

This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…

In this paper, we present a consensus-based decentralized multi-robot approach to reconstruct a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment,…

This paper considers the distributed H-infinity leader-following tracking problem for a class of discrete time multi-agent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only…