Robust consensus of high-order systems under output constraints: Application to rendezvous of underactuated UAVs

E Restrepo, A Loría, I Sarras… - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
We solve output-and state-consensus problems for multiagent high-order systems in
feedback form. We consider systems interconnected over arbitrary (connected) undirected …

Robust formation control in SE (3) for tree-graph structures with prescribed transient and steady state performance

CK Verginis, A Nikou, DV Dimarogonas - Automatica, 2019 - Elsevier
This paper presents a novel control protocol for distance and orientation formation control of
rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean …

Event-triggered formation control of multiagent systems with linear continuous-time dynamic models

W Zhu, W Cao, M Yan, Q Li - IEEE Transactions on Systems …, 2022 - ieeexplore.ieee.org
Event-triggered formation control of linear continuous-time multiagent systems is studied in
this article. A complex-valued Laplacian is adopted by the local information of desired …

Pattern formation of multi-AUV systems with the optical sensor based on displacement-based formation control

X Wang, B Zerr, H Thomas, B Clement… - International Journal of …, 2020 - Taylor & Francis
Associated with multi-autonomous underwater vehicle (AUV) systems, the optical sensors
with short working range can be reconsidered, which can provide more detailed and more …

Decentralized tube‐based model predictive control of uncertain nonlinear multiagent systems

A Nikou, DV Dimarogonas - International Journal of Robust …, 2019 - Wiley Online Library
This paper addresses the problem of decentralized tube‐based nonlinear model predictive
control (NMPC) for a general class of uncertain nonlinear continuous‐time multiagent …

Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers

A Filotheou, A Nikou… - International Journal of …, 2020 - Taylor & Francis
This paper addresses the problem of navigation control of a general class of 2nd order
uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of R 3 …

Toward safer navigation of heterogeneous mobile robots in distributed scheme: A novel time-to-collision-based method

M Shahriari, M Biglarbegian - IEEE transactions on cybernetics, 2021 - ieeexplore.ieee.org
For safe and efficient navigation of heterogeneous multiple mobile robots (HMRs), it is
essential to incorporate dynamics (mass and inertia) in motion control algorithms. Many …

Distributed progressive formation control for multi-agent systems: 2d and 3d deployment of uavs in ros/gazebo with rotors

C McCord, JP Queralta, TN Gia… - … Conference on Mobile …, 2019 - ieeexplore.ieee.org
Coordination of multiple robots in order to cooperatively perform a given task requires a
certain distribution of the different units in space. Furthermore, individual robots, or agents …

Decentralized control of uncertain multi-agent systems with connectivity maintenance and collision avoidance

A Filotheou, A Nikou… - 2018 European Control …, 2018 - ieeexplore.ieee.org
This paper addresses the problem of navigation control of a general class of uncertain
nonlinear multi-agent systems in a bounded workspace, which is subset of R n, with static …

Position and orientation based formation control of multiple rigid bodies with collision avoidance and connectivity maintenance

CK Verginis, A Nikou… - 2017 IEEE 56th Annual …, 2017 - ieeexplore.ieee.org
This paper addresses the problem of position-and orientation-based formation control of a
class of second-order nonlinear multi-agent systems in a 3D workspace with obstacles …