Formation Maneuvering and Target Interception for Multi‐Agent Systems via Rigid Graphs

Cai, Xiaoyu; Queiroz, M.S. de

doi:10.1002/asjc.1044

Cited by 38 publications

(27 citation statements)

References 34 publications

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“…Remark 1. It should be noted that similar to the aforementioned results hold on ℜ 2 for a planar motion as well, e.g., a minimally and infinitesimally rigid framework with N + 1 vertices in ℜ 2 has exactly 2(N + 1) − 3 edges (Cai and De Queiroz, 2015). Figure 3 illustrates the aforementioned concepts on ℜ 2 .…”

Section: Coordination Of Multiple Auvssupporting

confidence: 61%

“…Lemma 1 . (Cai and De Queiroz, 2015 ) We consider two frameworks

and

which share the same graph

is infinitesimally rigid and

where ϵ is a sufficient small positive constant, then

is also infinitesimally rigid .…”

Section: Preliminariesmentioning

confidence: 99%

“…Lemma 2 . (Cai and De Queiroz, 2015 ) If the framework

is minimally and infinitesimally rigid, then the matrix

is positive definite .…”

Section: Preliminariesmentioning

confidence: 99%

See 2 more Smart Citations

Robust Formation Control for Multiple Underwater Vehicles

et al. 2019

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This paper addresses the distance-based formation control problem for multiple Autonomous Underwater Vehicles (AUVs) in a leader-follower architecture. The leading AUV is assigned a task to track a desired trajectory and the following AUVs try to set up a predefined formation structure by attaining specific distances among their neighboring AUVs, while avoiding collisions and enabling at the same time relative localization. More specifically, a decentralized control protocol of minimal complexity is proposed that achieves prescribed, arbitrarily fast and accurate formation establishment. The control signal of each vehicle is calculated based on the relative position of its neighbors and its own velocity only, which can be easily acquired by the onboard sensors without necessitating for explicit network communication. Finally, a realistic simulation study with five AUVs performing seabed scanning was conducted to clarify the approach and verify the theoretical findings of this work.

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Section: Coordination Of Multiple Auvssupporting

confidence: 61%

“…Lemma 1 . (Cai and De Queiroz, 2015 ) We consider two frameworks

and

which share the same graph

is infinitesimally rigid and

where ϵ is a sufficient small positive constant, then

is also infinitesimally rigid .…”

Section: Preliminariesmentioning

confidence: 99%

See 1 more Smart Citation

Robust Formation Control for Multiple Underwater Vehicles

et al. 2019

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“…Simulation 1. In this simulation, we considered nine agents with the desired formation F d being the cube 4) , (1,5) , (1,9) , … , (7,9), (8,9)}. The desired inter-agent distances were given by d 14 The initial condition for the ith agent, q i (0), was selected by randomly perturbing the corresponding value of q * i in Fig.…”

Section: Simulation Resultsmentioning

confidence: 99%

3D Multi‐Agent Formation Control with Rigid Body Maneuvers

Zhang

Queiroz

2018

Asian Journal of Control

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In this paper, we propose a control scheme for the formation maneuvering problem of multi-agent systems where the team of agents can translate and rotate as a virtual rigid body in 3D. Using the single-integrator model, we formulate the basic control law which is comprised of a formation acquisition term, function of the graph rigidity matrix, and a rigid body maneuvering term. The control is dependent on the relative position of agents that are connected in an infinitesimally and minimally rigid framework in addition to the desired rigid body motion of the formation. To facilitate the design of the rigid body maneuver, one agent in the convex hull of the formation serves as the reference point for the rotation component. A simulation study demonstrates the formation controller.

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“…Lemma 2: 2 [7] Consider the systeṁ 2 The proof of this lemma is omitted since it is directly based on the proof of Theorem 1 in [7].…”

Section: Flocking Controlmentioning

confidence: 99%

Flocking and Target Interception Control for Formations of Nonholonomic Kinematic Agents

Khaledyan

Liu

Fernández-Kim

et al. 2020

IEEE Trans. Contr. Syst. Technol.

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In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycletype robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the rigidity properties of the graph modeling the sensing/communication interactions among the robots. An input transformation is used to facilitate the control design by converting the nonholonomic model into the single integrator-like equation. We assume only a subset of the robots know the desired, time-varying flocking velocity or the target's motion. The resulting control schemes include distributed, variable structure observers to estimate the unknown signals. Our stability analyses prove convergence to the desired formation while tracking the flocking velocity or the target motion. The results are supported by experiments.

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Formation Maneuvering and Target Interception for Multi‐Agent Systems via Rigid Graphs

Cited by 38 publications

References 34 publications

Robust Formation Control for Multiple Underwater Vehicles

Robust Formation Control for Multiple Underwater Vehicles

3D Multi‐Agent Formation Control with Rigid Body Maneuvers

Flocking and Target Interception Control for Formations of Nonholonomic Kinematic Agents

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