In this paper, we presented a review on the current control issues and strategies on a group
of unmanned autonomous vehicles/robots formation. Formation control has broad …

The design, simulation and programming of robotics systems is challenging as expertise
from multiple domains needs to be integrated conceptually and technically. Domain-specific …

This paper addresses the formation control problem for fleets of autonomous underwater
vehicles (AUVs). The solution is based on the virtual leader approach, with the main goal of …

This paper presents a Lie group setting for the problem of control of formations, as a natural
outcome of the analysis of a planar two-vehicle formation control law. The vehicle …

Autonomous mobile sensor networks are employed to measure large-scale environmental
fields. Yet an optimal strategy for mission design addressing both the cooperative motion …

Multiagent systems have been a major area of research for the last 15 years. This interest
has been motivated by tasks that can be executed more rapidly in a collaborative manner or …

We develop a hierarchical framework for planning and control of arbitrarily large groups
(swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal …

We address the synthesis of controllers for a swarm of robots to generate a desired two-
dimensional geometric pattern specified by a simple closed planar curve with local …

We present methods to stabilize a class of motion patterns for unit speed particles in the
plane. From their initial positions within a compact set in the plane, all particles converge to …

This paper investigates convex optimization strategies for coordinating a large-scale team of
fully actuated mobile robots. Our primary motivation is both algorithm scalability as well as …