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

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

It has been a long-standing dream to design artificial agents that explore their environment efficiently via intrinsic motivation, similar to how children perform curious free play. Despite recent advances in intrinsically motivated…

Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput…

This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…

In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and…

This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to…

Extracting the rules of real-world multi-agent behaviors is a current challenge in various scientific and engineering fields. Biological agents independently have limited observation and mechanical constraints; however, most of the…

This paper addresses the problem of collective circular motion control for unicycle agents, with the objective of achieving phase coordination of their velocity vectors while ensuring that their trajectories remain confined within a…

We apply a novel framework for decomposing and reasoning about free space in an environment to a multi-agent persistent monitoring problem. Our decomposition method represents free space as a collection of ellipsoids associated with a…

This paper discusses a cooperative strategy for capturing a target using multiple pursuers in a planar scenario. Given an initial position distribution of pursuers, the Voronoi Diagram is employed to characterize the target's proximity…

This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…

The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…

This paper presents a method for future motion prediction of multi-agent systems by including group formation information and future intent. Formation of groups depends on a physics-based clustering method that follows the agglomerative…

An approach of mobile multi-agent pursuit based on application of self-organizing feature map (SOFM) and along with that reinforcement learning based on agent group role membership function (AGRMF) model is proposed. This method promotes…

This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation,…

This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…

In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…

This paper presents thorough mathematical modeling, control law development, and simulation of virtual structure formations which are inspired by the characteristics of rigid bodies. The stable constraint forces that establish the rigidity…

This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…

We study a decentralized version of Moving Agents in Formation (MAiF), a variant of Multi-Agent Path Finding aiming to plan collision-free paths for multiple agents with the dual objectives of reaching their goals quickly while maintaining…