Showing 1-25 of 8,629 resultsfor "Index Terms":Formation Problem
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Planning and control of three-dimensional multi-agent formations
This paper provides a practicable framework for planning and control of three-dimensional multi-agent formations. The formation path planning is performed by using the A* search algorithm coupled with an optimizing algorithm to generate a collision-free and deadlock-free feasible path. For the formation motion control, we propose a set of decentralized control laws for the cohesive motion of three...Show More
Optimal Formation of Multirobot Systems Based on a Recurrent Neural Network
The optimal formation problem of multirobot systems is solved by a recurrent neural network in this paper. The desired formation is described by the shape theory. This theory can generate a set of feasible formations that share the same relative relation among robots. An optimal formation means that finding one formation from the feasible formation set, which has the minimum distance to the initia...Show More
UAV Formation Centralized Control Method Under Cooperative Flight Missions
2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Multi-UAV cooperative mission is an important development trend of unmanned system application, and multi-UAV autonomous flight formation control ability is the premise of performing diversified missions. Firstly, the importance of UAV formation in today's military and civil fields and the difficulties to be solved in formation control are analyzed. The formation cooperative control is divided int...Show More
Three-dimensional robust formation control for multiple uncrewed underwater vehicles based on Port-Hamiltonian theory under external disturbance
Zehua Jia;Huahuan Wang;Zhijian Sun;Dongsheng Guo;Weidong Zhang
2024 International Conference on Intelligent Robotics and Automatic Control (IRAC)
Year: 2024 | Conference Paper |
This article studies the formation control problem of multiple uncrewed underwater vehicles (UUVs) under time-varying external disturbances. The formation system is composed of a leader UUV and two follower UUVs. A three-dimensional (3D) formation robust control protocol of multi-UUV is presented based on the interconnection and damping assignment passivity-based control (IDA-PBC) method and the d...Show More
Safe Formation Control For Micro-UAV Using Control Barrier Functions
2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
The formation control for unmanned aerial vehicles (UAVs) has become a key research focus in the past two decades. This paper studies the issues of formation tracking and safety control for micro-UAV swarms. A distributed finite-time formation control method based on an adaptive super-twisting algorithm is designed, ensuring that micro- UAVs can quickly converge to the desired formation within a f...Show More
Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications
Formation control analysis and design problems for unmanned aerial vehicle (UAV) swarm systems to achieve time-varying formations are investigated. To achieve predefined time-varying formations, formation protocols are presented for UAV swarm systems first, where the velocities of UAVs can be different when achieving formations. Then, consensus-based approaches are applied to deal with the time-va...Show More
We address the problem of formation-tracking control of velocity-controlled unicycles in a leader-follower configuration, both with known and unknown leader velocities. The controller design is based on relative measurements: distances and line-of-sight angles. This type of measurements are provided by onboard sensors rather than global positioning systems. We assume that a virtual leader generate...Show More
A manufacturing cell formation problem with a maximum cell workload constraint
We address a manufacturing cell formation problem (CFP) in which one of the constraints limits the maximum cell workload to a given threshold. To meet such a requirement, it is possible to allocate copies of existing machines in different cells. Additional machines, however, increase costs and may also increase inter-cell flow. The proposed CFP is first modelled in terms of bilevel optimization an...Show More
Time-Varying Formation Tracking Control for Multi-UAV Systems with Communication Delays and Switching Topologies
2022 41st Chinese Control Conference (CCC)
Year: 2022 | Conference Paper |
Time-varying formation tracking (TVFT) control problems for multiple unmanned aerial vehicle (multi-UAV) systems with communication delays and switching topologies are investigated in this paper. A distribute state observer utilizing neighboring relative information is constructed to estimate states of the leader. Convergence of the observer can be proved using linear matrix inequality (LMI) metho...Show More
Event-Triggered Formation Control for Multi-Wheeled Mobile Robot Systems under A Chained Directed Network Topology
2024 43rd Chinese Control Conference (CCC)
Year: 2024 | Conference Paper |
This paper focuses on the formation tracking control of multiple nonholonomic wheeled mobile robot systems. In order to optimize communication resources, a distributed communication manner combined with a static event-triggered mechanism has been introduced under a special chained directed network topology based on the mobile robot kinematic model. And each mobile robot only needs to communicate w...Show More
A new framework of optimal multi-robot formation problem
Proceedings of the 30th Chinese Control Conference
Year: 2011 | Conference Paper |
Cited by: Papers (5)
In the past decade, cooperation of swarm of mobile robots has been extensively studied for its high error tolerance, efficiency, scalar extendibility and wide applications in various services and surveillances. Among most of these applications, the robots are required to formate into certain shape or positions so as to accomplish tasks with satisfied overall performance, hence multi-robot formatio...Show More
Multi-UAV Optimal Formation Control via Actor-Critic Reinforcement Learning Algorithm
2022 4th International Conference on Industrial Artificial Intelligence (IAI)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
In this paper, the multi-agent synchronous actor-critic algorithm is developed to solve the optimal formation control problem of the disturbed multi-unmanned aerial vehicle system. Based on the optimal control theory, the optimal formation problem is transformed to seek the optimal solutions of a set of coupled Hamilton-Jacobi-Bellman equations. The multi-agent reinforcement learning algorithm via...Show More
Formation Distance Problem in Multi-Agents Control
2012 Fifth International Conference on Intelligent Computation Technology and Automation
Year: 2012 | Conference Paper |
Cited by: Papers (3)
A new problem named formation distance problem (FDP) in multi-agents formation control is presented, with the aim to minimize the sum of distance all the agents traveled during every formation rebuilding process. By defining the formation distance matrix (FDM), we prove the FDP is an NP-hard problem. A recursion algorithm is described to exact solve the FDP, whose time complexity and space complex...Show More
Distributed Circle Formation Control of Multi-agent Systems in a Two-dimensional Plane
2022 International Conference on Cyber-Physical Social Intelligence (ICCSI)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
In this paper, the circle formation control of multi-agent systems with first-order dynamics in a two-dimensional plane is studied. The goal is to achieve the desired circle formation for the multi-agent system initially located outside the circle, that is, drive the multi-agent system to the circle in finite time and then form the prescribed formation on the circle. To the end, we need to design ...Show More
Time-varying group formation tracking control for multi-AUV with Markovian switching topologies and multiple leaders
2023 35th Chinese Control and Decision Conference (CCDC)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
This paper proposes a study on the time-varying group formation tracking control problem of multi-AUV system with Markovian switching topologies and multiple leaders. The Markovian switching communication topology of the AUV is established by graph theory and Markovian process theory, and a novel distributed leader-following group formation control protocol with time-varying delay for multi-AUV sy...Show More
Pattern formation using multiple robots
2009 IEEE 6th International Conference on Mobile Adhoc and Sensor Systems
Year: 2009 | Conference Paper |
Cited by: Papers (1)
Pattern formation is one of typical problems in the field of multi-robot cooperation. It can be applied to complex application scenarios such as region coverage and path exploration. Compare to traditional multi-robot coordination algorithm, the method based on swarm robots to solve the issue of pattern formation has better scalability and dynamic adaptability and robustness. In this demo, we prop...Show More
Research on Quadrotor UAV Formation Control Based on Integral Terminal Sliding Mode Active Disturbance Rejection Control
2024 International Conference on Advances in Electrical Engineering and Computer Applications (AEECA)
Year: 2024 | Conference Paper |
This study investigates leader-follower formation control to address the trajectory tracking problem of multiple UAVs and proposes a collaborative control scheme for multiple quadrotor UAVs. The design of the collaborative control scheme mainly includes an upper-layer formation controller and a lower-layer trajectory tracking controller. Firstly, the "leader-follower" formation model and the quadr...Show More
Distributed Generation and Control of Formation for Multiple Hypersonic Gliding Vehicles Based on Finite-Time Consensus Theory
2023 42nd Chinese Control Conference (CCC)
Year: 2023 | Conference Paper |
With undirected communication topology, the problem of formation generation control for multiple hypersonic gliding vehicles (HGVs) is considered in this paper. Considering the characteristics of single HGV, the control problem of formation generation is addressed during the phase of entry gliding. In light of the finite-time consensus theory, the distributed formation generation control laws are ...Show More
Dynamic Event-triggered Time-varying Formation Control for Discrete-time Multi-agent Systems
2022 China Automation Congress (CAC)
Year: 2022 | Conference Paper |
This paper addresses the problem of time-varying formation control for the second-order discrete-time multi-agent systems based on dynamic event-triggered strategy. Firstly, a novel dynamic event-triggered strategy is proposed to decide whether the current sampled data is transmitted to the neighbour network. In this case, the triggering threshold is constantly adjusted by using the dynamic rules....Show More
Relative-Information-Based Adaptive Formation Control Method for Heterogeneous Nonlinear Uncertain Multi-Underwater-Unmanned System*
2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE)
Year: 2024 | Conference Paper |
This study presents a formation control method based on relative information for heterogeneous nonlinear uncertain underwater unmanned system. Furthermore, the robustness of the proposed method is strong without prior knowledge. Moreover, the convergence boundary of the tracking error system can be predefined. In addition, the results of this research can be a foundational method for other formati...Show More
Affine Formation Control of Multiple Quadcopters
IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society
Year: 2022 | Conference Paper |
Cited by: Papers (3)
This paper considers the distributed time-varying formation tracking control problem of multi-quadcopter systems using affine formation control strategies with multiple virtual leaders. A novel two-layer (formation layer and local control layer) affine formation control structure is established to account for the underactuated nature of the quadcopter dynamics. In the formation layer, a quadcopter...Show More
Multi-Robot Formation with Obstacle Avoidance: An Improved Velocity Obstacle-Based Approach
2023 IEEE International Conference on Unmanned Systems (ICUS)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
This paper addressed the problem of multi-robot formation with obstacle avoidance, where the obstacles are assumed to be polyhedral. Due to the fact that the traditional velocity obstacle method cannot provide an appropriate velocity for the robots to avoid polyhedral obstacles, an improved velocity obstacle method is proposed by constructing the convex velocity obstacle region of polyhedral obsta...Show More
Solving Agent Initialization Problems in a Multi-Agent System
2023 Seminar on Information Computing and Processing (ICP)
Year: 2023 | Conference Paper |
The development of multi-agent systems has had an enormous impact on various areas of life. The essence of multi-agent systems is to solve problems that are difficult or impossible to solve with a single agent or with classical mathematical methods. However, there are many problems associated with the use of multi-agent systems, such as formation management. This paper focuses on formation control...Show More
Distributed Formation Control via Distributed Optimization
2022 IEEE 17th International Conference on Control & Automation (ICCA)
Year: 2022 | Conference Paper |
In this paper, we formulate a class of distributed formation control problems where the correspondence between agent labels and geometric vertices of the formation shape is not specified a prior. The new formation control problem is then decomposed into two steps including finding the correspondence between agent labels and formation’s geometric vertices and the formation stabilization. As a relax...Show More
Resilient Time-Varying Formation Tracking Control for General Linear Multiagent Systems With a Nonautonomous Leader and Adversarial Followers
Jinsheng Li;Yongzhao Hua;Jianglong Yu;Xiwang Dong;Zhi Feng;Zhang Ren
IEEE Transactions on Cybernetics
Cited by: Papers (2)
This article is concerned with resilient formation tracking problems for general linear multiagent systems, where the leader’s control input is unavailable to all the followers and partial followers’ behaviors are malicious due to the node attacks. Despite the presence of the nonautonomous leader and the adversarial followers, the remaining benign followers are still expected to track the leader’s...Show More
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