相关论文: Formation Control via Rotation Symmetry Constraint…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
Formation control simplifies minimizing multi-robot cost functions by encoding a cost function as a shape the robots maintain. However, by reducing complex cost functions to formations, discrepancies arise between maintaining the shape and…
In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…
For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, controllability of multi-agent systems under directed topologies is studied, especially on leader selection…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
This article considers the problem of conflict-free distribution of point-sized agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
A PDE-based control concept is developed to deploy a multi-agent system into desired formation profiles. The dynamic model is based on a coupled linear, time-variant parabolic distributed parameter system. By means of a particular coupling…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
Multi-agent ergodic coverage via Spectral Multiscale Coverage (SMC) provides a principled framework for driving a team of agents so that their collective time-averaged trajectories match a prescribed spatial distribution. While classical…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
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…
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 the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…