In this paper we focus on the target capturing problem for a swarm of agents modelled as
double integrators in any finite space dimension. Each agent knows the relative position of …

This letter proposes a novel way of specifying and controlling planar multiagent formations,
based on Fourier descriptors. We consider a given ordering of the agents in a sequence …

This article investigates the flocking control of a swarm with a malicious agent that falsifies its
controller parameters to cause collision, division, and escape of agents in the swarm. A …

This paper proposes a discrete-time kinematic model for a swarm/flock of multidimensional
agents combining two problems that are usually addressed separately: trajectory tracking …

A problem of transformation of a planar formation of a robot swarm to another formation is
considered. Robots are placed in the vertices of a polygon, so the goal is to transform the …

We investigate the model predictive control (MPC) of the fish schooling model by Gautrais et
al.(Annales Zoologici Fennici, 2008). The attraction/alignment/repulsion law within the …