Distributed SE(d) Formation Control of Multi-Agent Systems Using Relative Measurements

Peng, Chunlai; Sakurama, Kazunori; Miyano, Nichika et al.

International Journal of Robust and Nonlinear Control, 2025

アクセス数:89件（2026-02-16 13:26 集計）

固定URL: https://hdl.handle.net/11094/102757

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タイトル
Distributed SE(d) Formation Control of Multi-Agent Systems Using Relative Measurements
著者
著者名
Peng, Chunlai
NRID
1000010377020 1000010377020
ORCID
0000-0002-7754-7915 0000-0002-7754-7915
researchmap permalink
sakurama_kazunori sakurama_kazunori
著者名
Sakurama, Kazunori
著者名
Miyano, Nichika
著者名
Yamazumi, Mitsuhiro
著者名
Sugawara, Taiga
キーワード等
distributed control
formation control
multiagent systems
pose control
relative measurement
内容
Peng C., Sakurama K., Miyano N., et al. Distributed SE(d) Formation Control of Multi-Agent Systems Using Relative Measurements. International Journal of Robust and Nonlinear Control (2025); https://doi.org/10.1002/rnc.70119.
抄録
This study develops a solution to the distributed (Formula presented.) formation control problem of multi-agent systems using only relative measurements between agents. In this problem, poses, that is, orientations and positions, of the agents are expected to achieve desired ones. We assume that each agent can only measure its neighbors' relative poses, and that communication between agents is unavailable. To address this problem, a fully distributed and relative controller is proposed to ensure achieving the control objective. We employ the gradient-flow method with a clique-based objective function to achieve the best performance of the distributed, gradient-based controller. Subsequently, a network condition for achieving this objective is the connectedness. The proposed method ensures the stationary center of the agents and the minimum undesired equilibrium set, yielding short travel distances and a large attraction region, respectively. Furthermore, the proposed method outperforms the existing methods as evidenced by simulations in a two-dimensional space. In addition, the effectiveness of the proposed method is verified through a three-dimensional simulation. The proposed method shows potential for applications in drone swarm coordination, autonomous underwater vehicle formation, and mobile robot collaborative transportation when only local sensing is available while communication is limited.
出版者
John Wiley and Sons Ltd
収録物名
International Journal of Robust and Nonlinear Control
刊行年月
2025-08-04
言語
英語
ハンドルURL
https://hdl.handle.net/11094/102757
PISSN
10498923
eISSN
10991239
関連情報 (isIdenticalTo)
DOI (出版社版)
https://doi.org/10.1002/rnc.70119
アクセス権
open access
権利情報
This article is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
© 2025 The Author(s). International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd.
出版タイプ
Version of Record
カテゴリ
学術雑誌論文 Journal Article