Aiming at the multiple robots formation control problem, this paper presents a solution for the paralyzed deadlock and decision conflict in the formation system. It introduces the randomized-generating function and variable repulsive force feedback control algorithm, combines the leader-follower and the artificial potential field approach and defines the distance, velocity vector and the virtua...

Multi-vehicle swarms offer the potential for increased performance and robustness in several key robotic and autonomous applications. Emergent swarm behavior demonstrated in biological systems shows performance that far outstrips the abilities of the individual members. We demonstrate a lightweight formation control methodology that uses conservative potential functions to ensure group cohesion...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

The elimination of the FexAly type phases was considered the solution to low ductility presented in aluminum-steel welded joints. Recently, the researches do not seek the suppression but the control of the thickness of these compounds. In this work, Al-Fe joints were manufactured by solid state and fusion welding, looking for controlling the formation of intermetallic comp...

We present a design of a leaderless formation controller for networked vehicle systems, which uses concepts from sliding mode control and dynamic extension. A single gain varies the importance of the relative and absolute position terms, allowing for tight or loose formations. This approach is proven mesh stable. Applications include formation flying of Unmanned Air Vehicles as well as possible...

Model reference adaptive formation control of multi-agent systems composed of unknown linear processes is presented based on H∞ control criterion. This is the first attempt to solve the formation control problem from the view point of model reference adaptive control by output feedbacks. The proposed control schemes are derived as solutions of certain H∞ control problems, where estimation error...

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