相关论文: Distributed Cooperative Formation Control of Nonli…

The application of distributed model predictive controllers (DMPC) for multi-agent systems (MASs) necessitates communication between agents, yet the consequence of communication data rates is typically overlooked. This work focuses on…

This paper investigates the problem of resilient global practical fixed-time cooperative output regulation of uncertain nonlinear multi-agent systems subject to denial-of-service attacks. A novel distributed resilient adaptive fixed-time…

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…

Multi-Agent Systems (MAS) are adopted and tested with many complex and critical industrial applications, which are required to be adaptive, scalable, context-aware, and include real-time constraints. Industrial Control Networks (ICN) are…

Formation control of multi-agent systems has been a prominent research topic, spanning both theoretical and practical domains over the past two decades. Our study delves into the leader-follower framework, addressing two critical,…

This paper proposes a novel problem: vision-based perception to learn and predict the collective dynamics of multi-agent systems, specifically focusing on interaction strength and convergence time. Multi-agent systems are defined as…

We present a geometric neural network-based tracking controller for systems evolving on matrix Lie groups under unknown dynamics, actuator faults, and bounded disturbances. Leveraging the left-invariance of the tangent bundle of matrix Lie…

We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…

This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…

In this paper, the time-varying formation and time-varying formation tracking problems are solved for linear multi-agent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated to the digraph. The…

One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…

Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal…

In this paper, we discuss the methodology of generalizing the optimal control law from learned component tasks to unlearned composite tasks on Multi-Agent Systems (MASs), by using the linearity composition principle of linearly solvable…

Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…

Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…

In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss,…

In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a…

An unmanned surface vehicle (USV) can perform complex missions by continuously observing the state of its surroundings and taking action toward a goal. A SWARM of USVs working together can complete missions faster, and more effectively than…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…

This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…