Distributed Formation Control of Mobile Agents via Global Orientation Estimation

Tran, Quoc Van; Ahn, Hyo‐Sung

doi:10.1109/tcns.2020.2993253

Cited by 25 publications

(10 citation statements)

References 22 publications

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“…For example, in the formation control of a network of multiple agents (UAVs, mobile robots, etc.) that are spatially distributed [26], [27], it is desirable to compute the formation matching in a distributed fashion over the multiagent network. Moreover, distributed algorithms would be favored in largescale GM (of, e.g., graphs of features in images or social networks of users), in which the intervertex relations might be insecure to share, since the agents only communicate some auxiliary variables.…”

Section: Introductionmentioning

confidence: 99%

“…Though many GM algorithms have been developed [1]- [11], the proposed algorithm in this work is the first optimization scheme to tackle the GM problem in a distributed way. 3) Third, the proposed distributed GM approach is secure to the extent that the physical agents' identities remain unknown to the user; in contrast, many existing works related to cyber-physical multiagent systems, for example, [22], [26]- [29], [31], and [32], often require knowledge of all agents' indices in their designed algorithms. Furthermore, our proposed method is applicable for various cyber-physical networks, including formations of mobile robots or UAVs [26], [27], [31]; physicaldigital twin [28], [29]; and smart grids and multilayer networks [22], [32], as we have explained above.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Optimization for Graph Matching

Tran

Sun

Anderson

et al. 2023

IEEE Trans. Cybern.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Optimization for Graph Matching

Tran

Sun

Anderson

et al. 2023

IEEE Trans. Cybern.

Self Cite

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“…(2) For the formation stabilization control law, only local velocity and direction measurements are needed. Compared to the stabilization of double-integrator formations using relative position measurements [21], [22], no distance measurements are required in our formation stabilization control law. For the formation maneuvering law, in addition to the measurements mentioned in the stabilization case, we require only one agent, to measure its relative position with respect to a reference agent.…”

Section: Introductionmentioning

confidence: 99%

Stabilizing and Maneuvering Angle Rigid Multiagent Formations With Double-Integrator Agent Dynamics

Chen

Shi

Marina

et al. 2022

IEEE Trans. Control Netw. Syst.

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This paper studies formation stabilization and maneuvering of mobile agents governed by double-integrator dynamics. The desired formation is described by a set of tripleagent angles. A carefully chosen such set of angle constraints guarantees that the desired formation is angle rigid. To achieve the desired angle rigid formation, a stabilization control law is proposed using only local velocity and direction measurements. We show that the closed-loop dynamics of the formation, when each agent is modeled by a double-integrator, are closely related to the corresponding one in single-integrator agent dynamics. Sufficient conditions are constructed to guarantee the closedloop stability for identical and distinct velocity damping gains, respectively. To guide an angle rigid formation to move with the desired translational velocity, orientation and scale, formation maneuvering laws are then proposed. Simulation examples are also provided to validate the results.

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“…Nevertheless, decentralized control should be applied to nonholonomic systems having constraints in movement, such as vehicles. Notably, several studies have been reported wherein a decentralized control is initially developed for nonholonomic systems, or an algorithm for a holonomic system-based control law is extended by limiting certain conditions [5]- [12]. However, existing studies on holonomic systems cannot be directly applied to nonholonomic systems.…”

Section: Introductionmentioning

confidence: 99%

Instant Orientation Correction Strategy: Holonomic System-Based Decentralized Control for Nonholonomic Agents

et al. 2022

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This study proposes an instant orientation correction strategy to perform an orientation alignment-based formation control applicable to nonholonomic agents. Generally, an orientation alignment-based formation control cannot be applied to nonholonomic agents with orientation constraints because it is originally a protocol for holonomic agents. Therefore, we improved the orientation alignment-based formation control using an instant orientation correction strategy that modifies the local frame of the nonholonomic agents. To examine the effect of the proposed method, simulations and experiments using representative parameters were conducted for unicycle-modeled nonholonomic agents. As a result, nonholonomic agents could execute a holonomic system-based control law by applying the proposed correction strategy. The simulation confirmed the change in the convergence time and the cumulative error of the angular velocity according to the number of agents and the updated step size of the local desired position. As the updated step size increased, the cumulative error of the angular velocity tended to increase (0.3 rad/s∼0.4rad/s). Also, the convergence time was not dramatically affected by the update step size and the number of the agents (∼400 converge step).

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Distributed Formation Control of Mobile Agents via Global Orientation Estimation

Cited by 25 publications

References 22 publications

Distributed Optimization for Graph Matching

Distributed Optimization for Graph Matching

Stabilizing and Maneuvering Angle Rigid Multiagent Formations With Double-Integrator Agent Dynamics

Instant Orientation Correction Strategy: Holonomic System-Based Decentralized Control for Nonholonomic Agents

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