Journal Article10.1016/J.AUTOMATICA.2014.10.022
A survey of multi-agent formation control
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TL;DR: A survey of formation control of multi-agent systems focuses on the sensing capability and the interaction topology of agents, and categorizes the existing results into position-, displacement-, and distance-based control.
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About: This article is published in Automatica. The article was published on 01 Mar 2015.
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Citations
Constructing Universally Rigid Tensegrity Frameworks With Application in Multiagent Formation Control
TL;DR: This paper shows how to stabilize a formation of mobile agents by assigning a universally rigid virtual tensegrity framework for the formation and then design distributed controllers based on the forces determined by the stresses of the edges.
Robust Distributed Planar Formation Control for Higher Order Holonomic and Nonholonomic Agents
TL;DR: This article presents a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation based on the barycentric-coordinate-based (BCB) control, which is fully distributed, does not require interagent communication or a common sense of orientation, and can be implemented using relative position measurements acquired by agents in their local coordinate frames.
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Stability analysis on four agent tetrahedral formations
Myoung-Chul Park,Zhiyong Sun,Brian D. O. Anderson,Hyo-Sung Ahn +3 more
- 01 Dec 2014
TL;DR: By investigating the linearized dynamics of the system, it is proved that all incorrect equilibria are unstable, which results in that desired formation shape is almost globally asymptotically stable.
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Multiple Task Assignment and Path Planning of a Multiple Unmanned Surface Vehicles System Based on Improved Self-Organizing Mapping and Improved Genetic Algorithm
TL;DR: To resolve the multi-task assignment problem, an improved self-organizing mapping (ISOM) is proposed, and an improved genetic algorithm (IGA) with the shortest path is proposed to avoid USV collision during navigation.
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Formations on directed cycles with bearing-only measurements
TL;DR: A bearing-only control law for every agent is proposed and it is proved that the formation asymptotically converges to a formation specified by a set of feasible desired bearing vectors.
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