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In this paper, we propose a control method based on the artificial physics and leader-follower strategy for the multiple Unmanned Aerial Vehicles (UAVs) arbitrary formation control, the main contribution of this paper is that we design a formation controller based on the modified artificial physics, and then successfully apply to the quadrotor formation, and the fixed-wing UAVs with the velocity and...
This paper considers a leaderless consensus problem for multi-agent system with inherently nonlinear dynamics under directed graph. To provide an effective perspective to handle the consensus problem, an innovative concept about the edge Laplacian is developed for directed graph. The algebraic properties of the graph Laplacian and edge Laplacian bare a lot in common, and the edge Laplacian has much...
This paper investigates the leaderless consensus control problem for a group of agents under fixed or switching directed interaction topology, where each agent is modeled as a generic linear system rather than the single- or double-integrator dynamics. For the case with fixed topology, it is shown that consensus can be reached by assigning an appropriate feedback matrix if the interaction topology...
While most existing literature assumes agents in formation control are with no sensing limitations or with 360-degree sensing fields, we consider each agent in formation stabilization problem is with a cone-like sensing filed for the leader-follower formation in three-dimensional space. We discuss the strategies for the agent with cone-like sensing filed to follow one leader, two leaders and three...
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