Distance-Based Formation Tracking with Unknown Bounded Reference Velocities

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the formation and move at the leaders' velocity. The control law consists of a component to handle the uncertainty of the leaders' velocity and a component to achieve the desired distances in finite time. Numerical simulations are also provided to support the theoretical results.Comment: accepted to ICCAS 202

Distributed Obstacle Avoidance-Formation Control of Mobile Robotic Network with Coordinated Group Stabilization

We present a distributed control law for a group of agents that solves the problem of formation control with obstacle avoidance and that can be combined with a coordinated group stabilization control law. In particular, we consider a control law that is given by a linear combination of distributed formation, distributed obstacle avoidance and centralized group motion control laws. Simulation results show the effectiveness of our proposed control law

Distributed formation tracking using local coordinate systems

This paper studies the formation tracking problem for multi-agent systems, for which a distributed estimator–controller scheme is designed relying only on the agents’ local coordinate systems such that the centroid of the controlled formation tracks a given trajectory. By introducing a gradient descent term into the estimator, the explicit knowledge of the bound of the agents’ speed is not necessary in contrast to existing works, and each agent is able to compute the centroid of the whole formation in finite time. Then, based on the centroid estimation, a distributed control algorithm is proposed to render the formation tracking and stabilization errors to converge to zero, respectively. Finally, numerical simulations are carried to validate our proposed framework for solving the formation tracking problem