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

This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…

In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…

This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…

The time-varying output formation tracking for the heterogeneous multi-agent systems (MAS) is investigated in this paper. First, a distributed observer is constructed for followers to estimate the states of the leader, which can ensure that…

In this paper, we propose Lagrangian Gaussian Processes (LGPs) for probabilistic and data-efficient learning of dynamics via discrete forced Euler-Lagrange equations. Importantly, the geometric structure of the Lagrange-d'Alembert…

Complex and nonlinear dynamical systems often involve parameters that change with time, accurate tracking of which is essential to tasks such as state estimation, prediction, and control. Existing machine-learning methods require full state…

A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be modified in real…

The paper considers event-triggered leader-follower tracking control for multi-agent systems with general linear dynamics. For both undirected and directed follower graphs, we propose event triggering rules which guarantee bounded tracking…

The Gipps car-following model is a widely used tool for studying and simulation traffic dynamics. Despite its popularity an often disregarded property is that under heterogeneous parametrization on the individual vehicles in the traffic…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…

Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by…

We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar\'e equations with advected parameters. We find a…

Stable concurrent learning and control of dynamical systems is the subject of adaptive control. Despite being an established field with many practical applications and a rich theory, much of the development in adaptive control for nonlinear…

In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms achieving…

Observer design typically requires the observability of the underlying system, which may be hard to verify for nonlinear systems, while guaranteeing asymptotic convergence of errors, which may be insufficient in order to satisfy performance…

In this paper we present three distributed control laws for the coordination of networked Euler-Lagrange (EL) systems. We first reformulate the passivity-based control design method in \cite{Arcak} by considering that each edge is…

Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to…

Formation coordination is a critical aspect of swarm robotics, which involves coordinating the motion and behavior of a group of robots to achieve a specific objective. In formation coordination, the robots must maintain a specific spatial…

We propose and validate a novel car following model based on deep reinforcement learning. Our model is trained to maximize externally given reward functions for the free and car-following regimes rather than reproducing existing follower…