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The paper concentrates on the fundamental coordination problem that requires a network of agents to achieve a specific but arbitrary formation shape. A new technique based on complex Laplacian is introduced to address the problems of which formation shapes specified by inter-agent relative positions can be formed and how they can be achieved with(More)
Real graph Laplacians are of great importance in consensus of multi-agent systems. This paper introduces complex graph Laplacians as a new tool to study the formation control problem in the plane. It is shown that complex graph Laplacians are of equally great importance for planar formation control like real Laplacians for consensus. First, complex graph(More)
This paper introduces a new multi-agent control problem, called an affine formation control problem, with the objective of asymptotically reaching a configuration that preserves collinearity and ratios of distances with respect to a target configuration. Suppose each agent updates its own state using a weighted sum of its neighbor’s relative states with(More)
This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant overall group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable(More)
The paper studies the formation control problem for distributed robot systems. It is assumed each robot only has access to local sensing information (i.e. the relative positions and IDs of its neighbors). Taking into consideration physical sensing constraints (e.g. limited sensing range) and the motion of the robots over time, it may be noted that the(More)
This paper proposes a switching control strategy for formation maneuvering control of multi-agent systems with guaranteed collision avoidance and connectivity maintenance properties. The control strategy consists of three parts: formation maneuvering, collision avoidance, and connectivity maintenance control. We adopt the idea of using complex Laplacian for(More)
This paper reviews some main results and progress in distributed multi-agent coordination from a graph Laplacian perspective. Distributed multi-agent coordination has been a very active subject studied extensively by the systems and control community in last decades, including distributed consensus, formation control, sensor localization, distributed(More)