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

Number of Access:0（2025-09-20 10:13 Counts）

Identifier to cite or link to this item: https://hdl.handle.net/11094/102757

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Title
Distributed SE(d) Formation Control of Multi-Agent Systems Using Relative Measurements
Creator
CreatorName
Peng, Chunlai
NRID
1000010377020 1000010377020
ORCID
0000-0002-7754-7915 0000-0002-7754-7915
researchmap permalink
sakurama_kazunori sakurama_kazunori
CreatorName
Sakurama, Kazunori
CreatorName
Miyano, Nichika
CreatorName
Yamazumi, Mitsuhiro
CreatorName
Sugawara, Taiga
Subject
distributed control
formation control
multiagent systems
pose control
relative measurement
Description
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.
Abstract
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.
Publisher
John Wiley and Sons Ltd
Source Title
International Journal of Robust and Nonlinear Control
Date of Issued
2025-08-04
Language
English
Handle URL
https://hdl.handle.net/11094/102757
PISSN
10498923
eISSN
10991239
Relation.isIdenticalTo
DOI (Publisher Version)
https://doi.org/10.1002/rnc.70119
Access Rights
open access
CopyRight
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.
oaire:version
Version of Record
Category
学術雑誌論文 Journal Article