相关论文: Cyclic pursuit formation control for arbitrary des…

We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…

By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…

This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…

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,…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…

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…

Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…

We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…

We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a…

This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifying the original weights that build the Laplacian matrix so…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

This paper proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is the novel design of weights in the…

This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional…

Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…

In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…

Coordinated path following in multi-agent systems is a key challenge in robotics, with applications in automated logistics, surveillance, and collaborative exploration. Traditional formation control techniques often rely on…

Given an ensemble of autonomous agents and a task to achieve cooperatively, how much do the agents need to know about the state of the ensemble and about the task in order to achieve it? We introduce new methods to understand these aspects…

An approach for coalition formation of multi-agent pursuit based on neural network and AGRMF model is proposed.This paper constructs a novel neural work called AGRMF-ANN which consists of feature extraction part and group generation part.…