The problem of vision-based fixed-wing UAV formation control under communication limitations and the presence of measurement errors was investigated. In the first part of this paper, the single UAV motion model and the process of estimating the neigh...
Formation path planning is a significant cornerstone for unmanned aerial vehicle (UAV) swarm intelligence. Previous methods were not suitable for large-scale UAV formation, which suffered from poor formation maintenance and low planning efficiency. T...
This paper proposes a coupled-error-based formation control algorithm for the rapid formation completion of multi-robot systems. We consider a multi-robot system with omni-directional robots with swerve-driving mechanisms and a communication system w...
Robot formation control has several advantages that make it interesting for research. Multiple works have been published in the literature using different control approaches. This work presents the control of different groups of robots to achieve a d...
In this paper, cooperative control and optimal control methods are used for the formation control of mixed-order heterogeneous multi-agent systems. The system consists of unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs), and unmanned...
In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with...
Autonomous/unmanned driving is the major state-of-the-art step that has a potential to fundamentally transform the mobility of individuals and goods. At present, most of the developments target standalone autonomous vehicles, which can sense the surr...
We present an overview of formation control for multi-agent systems. Multi-agent formation cooperation is important to accomplish assigned tasks more efficiently and safely compared to a single agent. For the way information flows between agents, we...
Control methods that guarantee stability in the presence of uncertainties are mandatory in space applications. Further, distributed control approaches are beneficial in terms of scalability and to achieve common goals, especially in multi-agent setup...
In this paper, we present a mixed-initiative motion control strategy for multiple quadrotor aerial vehicles. The proposed approach incorporates formation specifications and motion-planning commands as well as inputs by a human operator. More specific...
In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton–Euler formulation. Next, a backstepping-based formation control...
In this paper, the distributed optimal control method is used to study the cooperative formation of heterogeneous multi-agents in the air–ground environment. The considered system consists of an unmanned aerial vehicle (UAV) and an unmanned gro...
In satellite formation flying, maintaining a predefined safety distance between the reference satellite and its accompanying satellites is critical to prevent collisions—a requirement that traditional control methods fail to satisfy. This paper...
Formation control plays a vital role in coordinating multi-agent systems and swarm robotics, enabling collaboration in applications such as autonomous vehicles, robotic swarms, and distributed sensing. This paper introduces the formation-control prob...
In this paper, we present a vision-based leader–follower strategy for formation control of multiple quadrotors. The leaders use a decoupled visual control scheme based on invariant features. The followers use a control scheme based only on bear...
Going beyond the current trend of cooperating multiple small satellites we arrive at fractionated satellite architectures. Here the subsystems of all satellites directly self-organize and cooperate among themselves to achieve a common mission goal. A...
This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain...
This article addresses a distributed 3D algorithm for coordinating a swarm of autonomous robots (ARs) to spatially self-aggregate into an arbitrary shape based on only local interactions. Each AR has local proximity sensors for measuring the relative...
This paper investigates the problem of rotating formation control for multi-spacecraft systems with prescribed performance in the presence of model uncertainties. Firstly, The spacecraft dynamics containing unmodelled parts is described in a polar co...
The challenge of effectively managing the formation and recovery of traffic cone robots (TCRs) is addressed by proposing a linear time-varying model predictive control (MPC) strategy. This problem involves coordinating multiple TCR formations within...
Cooperative formation control is the research basis for various tasks in the multi-UAV network. However, in a complex environment with different interference sources and obstacles, it is difficult for multiple UAVs to maintain their connectivity whil...
This paper investigates the distributed formation control problem of underactuated unmanned surface vehicles (UUSVs) with uncertainties and disturbances and proposes a novel distributed formation controller. The proposed controller redefines the dyna...
In this study, a control strategy is presented for multiple quadrotors, inclusive of sliding mode control and proportional derivative (PD) control, with the goal of providing stability, robustness, reduced disturbance, and formation tracking in uncer...
To address the issues of local minima, target unreachability, and significant formation disruption during obstacle avoidance in the conventional artificial potential field (APF), a control approach that integrates APF with optimal consensus control w...
The paper is devoted to the problem of the decentralized control of unmanned aerial vehicle (UAV) formation in the case of parametric uncertainty. A new version of the feedback linearization approach is proposed and used for a point mass UAV model tr...
To maintain the formation of underactuated surface vessels (USVs), this study designs a formation controller based on a virtual structure strategy. The problem of formation control is transformed into the problems of tracking the USV position and the...
This research investigates the impact of actuator faults on the formation control of multiple-wheeled mobile robots—a critical aspect in coordinating multi-robot systems for applications such as surveillance, exploration, and transportation. Wh...
The high performance and efficiency of multiple unmanned surface vehicles (multi-USV) promote the further civilian and military applications of coordinated USV. As the basis of multiple USVs’ cooperative work, considerable attention has been sp...
To address the challenges faced by multiple autonomous underwater vehicles (AUVs) in formation control under complex marine environments—such as model uncertainties, external disturbances, dynamic communication topology variations, and limited...
Formation control is an important problem in cooperative robotics due to its broad applications. To address this problem, the concept of a virtual linkage is introduced. Using this idea, a group of robots is designed and controlled to behave as parti...
Cooperative group formation control of manned/unmanned aircraft vehicles (MAV/UAVs) using a hierarchical framework can be more efficient and flexible than centralized control strategies. In this paper, a two-level hierarchical-interaction-based coope...
In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic com...
For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization meth...
In the paper, the problem of forming and maintaining the small satellites formation in the near-earth projected circular orbits is considered. The satellite formation reconfiguration and formation-keeping control laws are proposed by employing the pa...
Accurate sensing and control are important for high-performance formation control of spacecraft systems. This paper presents a strategy of disturbance estimation and distributed predefined-time control for the formation of multi-spacecraft systems wi...
Unmanned Aerial Vehicles (UAVs) are playing an increasingly vital role in modern battlefields. Accordingly, considerable research has been devoted to Manned–Unmanned Teaming (MUM-T) systems, with formation flight recognized as a key enabling te...
In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set...
This paper investigates the problem of multi-robot formation control strategies in environments with obstacles based on deep reinforcement learning methods. To solve the problem of value function overestimation in the deep deterministic policy gradie...
This paper utilizes the distributed model predictive control (DMPC) method to investigate the formation control problem of unmanned aerial vehicles (UAVs) in the obstacle environment and establishes cooperative capability evaluation metrics of the sw...
Aiming at maneuvering, input saturation, and communication interference in the controller design for formation control multi-agent systems, a novel nonlinear bounded controller is proposed. Based on coordinates transformation, reference information i...
This paper investigates the bearing-only formation control problem of a heterogeneous multi-vehicle system, which includes unmanned aerial vehicles (UAVs) and unmanned surface vehicles (UWSVs). The interactions among vehicles are described by a parti...
This paper addresses the analysis and the deployment of the network infrastructure based on multiple Unmanned Air Vehicles (UAVs). Despite the unprecedented potential to the mobility of the network infrastructure, there has been no effort to establis...
Unmanned Aerial Vehicles (UAVs) can cooperate through formations to perform tasks. Wireless communication allows UAVs to exchange information, but for the situations requiring high security, electromagnetic silence is needed to avoid potential threat...
This paper presents the formation tracking problem for non-holonomic automated guided vehicles. Specifically, we focus on a decentralized leader–follower approach using linear quadratic regulator control. We study the impact of communication pa...
This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a forma...
Aiming at the nonlinear and multiple disturbances in the multi-quadcopter UAV system, this paper proposes a leader–follower composite formation control strategy based on an improved super-twisted sliding mode controller (ISTSMC) and a finite-ti...
The prescribed performance robust control method for the leader/follower (L/F) formation is proposed in this paper to solve the problem of spacecraft formation flying (SFF) full-process control (FPC). The objective of FPC is to establish an ultra-clo...
This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estima...
This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the form...
The paper presents a study of decentralized control for a satellite formation flying mission that uses differential lift and drag to enforce the relative positioning requirements. All spacecraft are equipped with large sunlight reflectors so that, gi...
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