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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)
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Abstract—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(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 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)
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)
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 introduces a new range-based distributed localization algorithm for wireless sensor networks in the three-dimensional space. To overcome the difficulty in computing the barycentric coordinates of a node with respect to its neighbors in 3D, a new scheme is developed for this purpose by using the fact that a congruent framework of the subnetwork(More)