相关论文: Collision-Free Bearing-Driven Formation Tracking f…

This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…

In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the special Euclidean group in the space SE(3). In particular, we use…

We derive necessary and sufficient conditions for leader-follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation while satisfying certain transient constraints. A…

A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…

This paper studies the problem of integrated distributed network localization and formation maneuver control. We develop an integrated relative-measurement-based scheme, which only uses relative positions, distances, bearings, angles,…

Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the…

We investigate the pressureless fractional Euler-alignment system with nonlinear velocity couplings, referred to as the $p$-Euler-alignment system. This model features a nonlinear velocity alignment force, interpreted as a density-weighted…

Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…

Accurate prediction of spray atomization process using an Euler-Lagrange (EL) approach is challenging because of high volume fraction of the liquid phase in dense regimes. This would in reality displace a remarkable portion of the gaseous…

Data generated from dynamical systems with unknown dynamics enable the learning of state observers that are: robust to modeling error, computationally tractable to design, and capable of operating with guaranteed performance. In this paper,…

In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…

A method of designing observers and observer-based tracking controllers is proposed for nonlinear systems on manifolds via embedding into Euclidean space and transversal stabilization. Given a system on a manifold, we first embed the…

Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous modeling paradigms, as well as subsystems…

This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering…

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…

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…

This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…

We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…

Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…