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Stabilization of planar collective motion with limited communication
 IEEE Trans. Automat. Contr
"... Abstract—This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particle ..."
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Cited by 86 (29 self)
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Abstract—This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and timeinvariant or timevarying. The emphasis of this paper is to show how previous results assuming alltoall communication can be extended to a general communication framework. Index Terms—Cooperative control, geometric control, multiagent systems, stabilization. I.
Distributed Connectivity Control of Mobile Networks
, 2007
"... Control of mobile networks raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In particular, in applications involving mobile sensor networks and multiagent systems, a great new challenge is the development of distributed motion algorithms that guara ..."
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Cited by 76 (9 self)
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Control of mobile networks raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In particular, in applications involving mobile sensor networks and multiagent systems, a great new challenge is the development of distributed motion algorithms that guarantee connectivity of the overall network. In this paper, we address this challenge using a novel control decomposition. First, motion control is performed in the continuous state space, where nearest neighbor potential fields are used to maintain existing links in the network. Second, distributed coordination protocols in the discrete graph space ensure connectivity of the switching network topology. Coordination is based on locally updated estimates of the abstract network topology by every agent as well as distributed auctions that enable tie breaking whenever simultaneous link deletions may violate connectivity. Integration of the overall system results in a distributed, multiagent, hybrid system for which we show that, under certain secondary objectives on the agents and the assumption that the initial network is connected, the resulting motion always satisfies connectivity of the network. Our approach can also account for communication time delays in the network as well as collision avoidance, while its efficiency is illustrated in nontrivial computer simulations.
Dynamic assignment in distributed motion planning with local information
 IEEE TRANSACTIONS ON ROBOTICS
, 2008
"... Distributed motion planning of multiple agents raises fundamental and novel problems in control theory and robotics. In particular, in applications such as coverage by mobile sensor networks or multiple target tracking, a great new challenge is the development of motion planning algorithms that dyna ..."
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Cited by 40 (4 self)
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Distributed motion planning of multiple agents raises fundamental and novel problems in control theory and robotics. In particular, in applications such as coverage by mobile sensor networks or multiple target tracking, a great new challenge is the development of motion planning algorithms that dynamically assign targets or destinations to multiple homogeneous agents, not relying on any aprioriassignment of agents to destinations. In this paper, we address this challenge using two novel ideas. First, distributed multidestination potential fields are developed that are able to drive every agent to any available destination. Second, nearest neighbor coordination protocols are developed ensuring that distinct agents are assigned to distinct destinations. Integration of the overall system results in a distributed, multiagent, hybrid system for which we show that the mutual exclusion property of the final assignment is guaranteed for almost all initial conditions. Furthermore, we show that our dynamic assignment algorithm will converge after exploring at most a polynomial number of assignments, dramatically reducing the combinatorial nature of purely discrete assignment problems. Our scalable approach is illustrated with nontrivial computer simulations.
Distributed control of robotic networks: a mathematical approach to motion coordination algorithms
, 2009
"... (i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 ..."
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Cited by 38 (1 self)
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(i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 “Distributed Control of Robotic Networks ” by F. Bullo, J. Cortés and S. Martínez
An overview of recent progress in the study of distributed multiagent coordination
, 2012
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VisionBased, Distributed Control Laws for Motion Coordination of Nonholonomic Robots
 ACCEPTED FOR PUBLICATION IN IEEE TRANSACTIONS ON ROBOTICS
"... We study the problem of distributed motion coordination among a group of planar nonholonomic agents. Inspired by social aggregation phenomena such as flocking and schooling in birds and fish, we develop visionbased control laws for parallel and circular formations using a consensus approach. The pr ..."
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Cited by 29 (3 self)
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We study the problem of distributed motion coordination among a group of planar nonholonomic agents. Inspired by social aggregation phenomena such as flocking and schooling in birds and fish, we develop visionbased control laws for parallel and circular formations using a consensus approach. The proposed control laws are distributed, in the sense that only information from neighboring agents are included. Furthermore, the control laws are coordinatefree and do not rely on measurement or communication of heading information among neighbors, but instead require measurements of bearing, optical flow and timetocollision, all of which can be measured using vision. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.
A Distributed Auction Algorithm for the Assignment Problem
, 2008
"... The assignment problem constitutes one of the fundamental problems in the context of linear programming. Besides its theoretical significance, its frequent appearance in the areas of distributed control and facility allocation, where the problems’ size and the cost for global computation and inform ..."
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Cited by 27 (0 self)
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The assignment problem constitutes one of the fundamental problems in the context of linear programming. Besides its theoretical significance, its frequent appearance in the areas of distributed control and facility allocation, where the problems’ size and the cost for global computation and information can be highly prohibitive, gives rise to the need for local solutions that dynamically assign distinct agents to distinct tasks, while maximizing the total assignment benefit. In this paper, we consider the linear assignment problem in the context of networked systems, where the main challenge is dealing with the lack of global information due to the limited communication capabilities of the agents. We address this challenge by means of a distributed auction algorithm, where the agents are able to bid for the task to which they wish to be assigned. The desired assignment relies on an appropriate selection of bids that determine the prices of the tasks and render them more or less attractive for the agents to bid for. Up to date pricing information, necessary for accurate bidding, can be obtained in a multihop fashion by means of local communication between adjacent agents. Our algorithm is an extension to the parallel auction algorithm proposed by Bertsekas et al to the case where only local information is available and it is shown to always converge to an assignment that maximizes the total assignment benefit within a linear approximation of the optimal one.
Coordinated patterns of unit speed particles on a closed curve
 Syst. Control Lett
, 2007
"... We present methods to stabilize a class of motion patterns for unit speed particles in the plane. From their initial positions within a compact set in the plane, all particles converge to travel along a closed curve. The relative distance between each pair of particles along the curve is measured us ..."
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Cited by 24 (8 self)
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We present methods to stabilize a class of motion patterns for unit speed particles in the plane. From their initial positions within a compact set in the plane, all particles converge to travel along a closed curve. The relative distance between each pair of particles along the curve is measured using the relative arclength between the particles. These distances are controlled to converge to constant values.
Stabilization of collective motion in three dimensions: A consensus approach
 Proc. 46th IEEE Conf. Decision and Control
, 2007
"... Abstract — This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in threedimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem. We ..."
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Cited by 22 (9 self)
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Abstract — This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in threedimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem. We first derive the stabilizing control laws in the presence of alltoall communication. Providing each agent with a consensus estimator, we then extend the results to a general setting that allows for unidirectional and timevarying communication topologies. I.