Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance
ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology（ACCESS林奈斯中心，电气工程学院，KTH皇家理工学院）；KTH Center for Autonomous Systems（KTH自主系统中心）
Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol such that each agent achieves a predefined geometric formation with its initial neighbors, while using local information based on a limited sensing radius. The latter implies that the proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a novel class of potential functions and do not require a priori knowledge of the dynamical model, except for gravity-related terms. Finally, simulation results verify the validity of the proposed framework.
Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology（ACCESS林奈中心，电气工程学院，皇家理工学院）；KTH Center for Autonomous Systems（KTH自主系统中心）
Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes
Department of Systems and Control Engineering, Tokyo Institute of Technology（东京工业大学系统与控制工程系）；Department of Electronics and Bioinformatics, Meiji University（明治大学生物信息学与电子工程系）
Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
ACCESS Linnaeus Center, School of Electrical Engineering and KTH Center for Autonomous Systems, KTH Royal Institute of Technology（林奈中心电气工程学院及KTH自主系统中心，瑞典皇家理工学院）
Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
A. Franchi CNRS, LAAS, 7 Avenue du Colonel Roche, F-31400 Toulouse, France. Univ de Toulouse, LAAS, F-31400 Toulouse, France P. Stegagno Max Planck Institute for Biological Cybernetics, Spemanstra e 38, 72076 T\"ubingen, Germany G. Oriolo Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\`a di Roma, Via Ariosto 25, 00185 Roma, Italy
Robust Decentralized Abstractions for Multiple Mobile Manipulators
ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology（林奈 ACCESS 中心，电气工程学院，KTH 皇家理工学院）；KTH Center for Autonomous Systems（KTH 自主系统中心）
