As for multi-uninhabited aerial vehicle cooperative fire fighting problem, a multiuninhabited aerial vehicle cooperative control method was proposed based on consensus algorithm. multi-uninhabited aerial vehicle cooperative control problem was divided into two steps: 1) a multi-uninhabited aerial vehicle arrival simultaneous control strategy under influence of wind field based on consensus algo...

In this paper, we address the distributed filtering and prediction of time-varying random fields represented by linear time-invariant (LTI) dynamical systems. The field is observed by a sparsely connected network of agents/sensors collaborating among themselves. We develop a Kalman filter type consensus+innovations distributed linear estimator of the dynamic field termed as Consensus+Innovation...

Formation control of multi-vehicle system has been studied as a combination of estimation problem and tracking problem. Virtual structure based formation control strategy is applied which solves the problem of formation maintenance and movement using a control architecture in hierarchical manner. The control architecture is distributed in nature and requires only local neighbor to neighbor comm...

In this paper, the consensus tracking problem with unknown dynamics in the leader for the linear multiagent systems is addressed. Based on the relative output information among the agents, decentralized adaptive consensus protocols with static coupling gains are designed to guarantee that the consensus tracking errors converge to a small neighborhood around the origin and all the signals in the...

Abstract. We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one “leader” robot and with one follower. As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For a spanning-tree to...