• Publications
  • Influence
Rigid graph control architectures for autonomous formations
This article sets out the rudiments of a theory for analyzing and creating architectures appropriate to the control of formations of autonomous vehicles. The theory rests on ideas of rigid graphExpand
  • 417
  • 28
Cluster consensus control of generic linear multi-agent systems under directed topology with acyclic partition
  • J. Qin, C. Yu
  • Mathematics, Computer Science
  • Autom.
  • 1 September 2013
tl;dr
This paper investigates the cluster consensus control for generic linear multi-agent systems (MASs) under directed acyclic interaction topology via distributed feedback controller. Expand
  • 173
  • 12
Coordination for Linear Multiagent Systems With Dynamic Interaction Topology in the Leader-Following Framework
  • J. Qin, C. Yu, H. Gao
  • Mathematics, Computer Science
  • IEEE Transactions on Industrial Electronics
  • 1 May 2014
tl;dr
This paper considers mainly the leader-following consensus for multiple agents with general linear system dynamics under switching topologies. Expand
  • 142
  • 10
Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements
tl;dr
We propose an estimator to localize the target and a control law that forces the agent to move on a circular trajectory around the target such that both the estimator and the control system are exponentially stable. Expand
  • 101
  • 9
  • Open Access
Three and higher dimensional autonomous formations: Rigidity, persistence and structural persistence
tl;dr
In this paper, we generalize the notion of persistence, which has been originally introduced for two-dimensional formations, to R^d for d>=3, seeking to provide a theoretical framework for real world applications, which often are in three-dimensional space. Expand
  • 167
  • 8
  • Open Access
Control of a three-coleader formation in the plane
tl;dr
This paper considers a formation of three point agents moving in the plane, where the agents have a cyclic ordering with each one required to maintain a nominated distance from its neighbour; further, each agent is allowed to determine its movement strategy using local knowledge only of the direction of its neighbour, and the current and desired distance. Expand
  • 148
  • 8
  • Open Access
Control of acyclic formations of mobile autonomous agents
tl;dr
This paper proposes distributed control laws for maintaining the shape of a formation of mobile autonomous agents in the plane for which the desired shape is defined in terms of prescribed distances between appropriately chosen pairs of agents. Expand
  • 84
  • 6
  • Open Access
Consensus control of linear multi-agent systems under directed dynamic topology
  • J. Qin, C. Yu
  • Mathematics, Computer Science
  • European Control Conference (ECC)
  • 17 July 2013
tl;dr
This paper aims to extend the nonnegative matrix theory, which is widely employed for multiple integrator agents, to deal with the consensus control of generic linear multi-agent systems under directed dynamic topology. Expand
  • 26
  • 6
  • Open Access
UAV Formation Control: Theory and Application
tl;dr
Unmanned airborne vehicles (UAVs) often fly in formation, meaning that the distances between individual pairs of UAVs stay fixed, and the formation in a sense moves as a rigid entity. Expand
  • 133
  • 5
  • Open Access