A General Solution to the Formation Control Problem Without Collisions for First-Order Multi-Agent Systems

Flores-Resendiz, Juan Francisco; Aranda-Bricaire, E.

doi:10.1017/s0263574719001280

Cited by 10 publications

(5 citation statements)

References 19 publications

(35 reference statements)

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“…MBC converges the quickest as the gradient is computed from multiple steps along the horizon where the dense sections emerge to the agents earlier compared to both BC and PBC, which only uses a one-step forward view. As the MBC scheme utilises broadcast-based communication and takes a different outlook from the recent algorithms utilising agent-to-agent communication protocol [36,37,38,39,40], the comparison study is deemed appropriate only with the previous BC schemes as proven. In the future, we intend to extend the MBC scheme to some practical applications of multi-agent systems.…”

Section: Discussionmentioning

confidence: 99%

Coverage control of mobile agents using multi-step broadcast control

et al. 2022

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This paper proposes a novel multi-step broadcast control (MBC) scheme to deploy a group of autonomous mobile agents for accomplishing coverage tasks in a bounded region. Traditional broadcast control (BC) schemes use a one-to-all communication framework to transmit a uniform signal to all agents, making it cost-effective compared with any all-to-all communication-based scheme for a multi-agent system. However, as BC schemes are based on a single-step view of the environment for decision-making, the environment’s varying distribution density is not known immediately to the agents, resulting in suboptimal performance. To overcome this drawback, this paper proposes an MBC scheme, where agents use a predictive multi-step view and are able to detect the varying densities in the environment ahead of time. The local controller output is estimated using a weighted averaging technique which assigns a higher weight to immediate steps; this feature compensates for any decrease in prediction accuracy as the number of steps increases. We demonstrate the effectiveness of the proposed MBC scheme using a coverage task over a region with uneven population density. Compared to existing BC schemes, the proposed MBC scheme shows superior convergence characteristics in task accomplishment and deployment efficiency.

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Section: Discussionmentioning

confidence: 99%

Coverage control of mobile agents using multi-step broadcast control

et al. 2022

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“…Research into formation control that relies on bearing information confronts the intricacies of diverse system types. This spectrum covers first-order systems [22], progresses to second-order [23], and extends further to more advanced higher-order systems. In addition, it encompasses both linear and nonlinear systems [24], ranging from continuous to discrete system classifications.…”

Section: Introductionmentioning

confidence: 97%

Dynamics Event-Triggered-Based Time-Varying Bearing Formation Control for UAVs

Ding,

Zhang,

Zhang

2024

Drones

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This article addresses the leader-follower formation maneuver control problem of multiple unmanned aerial vehicles (UAVs), taking into account the time-varying velocity and time-varying relative bearing. An event-triggered bearing-based distributed velocity observer was designed, using only the desired position and velocity of the leaders. Furthermore, a dynamic event-triggered mechanism was introduced to reduce continuous communication between UAVs, thus effectively saving communication bandwidth and resources. Building on this, a bearing-only formation maneuver control strategy was proposed, integrating the event-triggered velocity observer with the backstepping control approach. To conclude, numerical simulations have been conducted to confirm the effectiveness of the proposed scheme in accomplishing formation maneuver control objectives, including translation, scaling, and rotation control. Furthermore, the advantages of the dynamic event-triggering strategy have been demonstrated through comparative simulations with traditional event-triggering strategies. Additionally, the effectiveness of the proposed observer and controller has been demonstrated by a comprehensive hardware-in-the-loop (HITL) simulation example.

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“…To the best of our knowledge, the first rigorous proof of non-collision for any number of agents was published in the series of papers [ 3 , 4 , 5 ]. The idea was innovative: rather than proposing the “repulsive” vector field as the gradient of a potential function, adding a “repulsive” force, which may not be the gradient of any scalar function.…”

Section: Introductionmentioning

confidence: 99%

“…These new ideas were applied to first-order systems. Furthermore, other works that have tackled collision avoidance problems with formation control for first-order agents are [ 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 ], where different approaches and techniques were designed, developed and implemented in numerical simulations or real-time experiments. In the same context, in [ 15 ], single-integrator quadcopters were considered together with a distributed model predictive control scheme based on consensus theory to tackle collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

Formation with Non-Collision Control Strategies for Second-Order Multi-Agent Systems

Aranda-Bricaire

González‐Sierra

2023

Entropy

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This article tackles formation control with non-collision for a multi-agent system with second-order dynamics. The nested saturation approach is proposed to solve the well-known formation control problem, allowing us to delimit the acceleration and velocity of each agent. On the other hand, repulsive vector fields (RVFs) are developed to avoid collisions among the agents. For this purpose, a parameter depending on the distances and velocities among the agents is designed to scale the RVFs adequately. It is shown that when the agents are at risk of collision, the distances among them are always greater than the safety distance. Numerical simulations and a comparison with a repulsive potential function (RPF) illustrate the agents’ performance.

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A General Solution to the Formation Control Problem Without Collisions for First-Order Multi-Agent Systems

Cited by 10 publications

References 19 publications

Coverage control of mobile agents using multi-step broadcast control

Coverage control of mobile agents using multi-step broadcast control

Dynamics Event-Triggered-Based Time-Varying Bearing Formation Control for UAVs

Formation with Non-Collision Control Strategies for Second-Order Multi-Agent Systems

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