We address the full-consensus problem for multiagent nonholonomic systems via output
feedback. That is, consensus both in position and orientation considering the latter as the …

In this article, we propose a solution to the full-consensus-based formation problem for
torque-controlled nonholonomic mobile robots under time-varying communication delays …

This note proposes a passivity-based control method for trajectory tracking and formation
control of nonholonomic wheeled robots without velocity measurements. Coordinate …

This paper proposes a passivity approach in port-Hamiltonian (pH) form for multi-agent
formation control and velocity tracking. The control law consists of two parts, where the …

The security issue of mobile robots has attracted considerable attention in recent years. In
this article, we propose an intelligent physical attack to trap mobile robots into a preset …

We address the problem of making nonholonomic vehicles, with second-order dynamics
and interconnected over a bidirectional network, converge to a formation centered at a …

A distributed resilient finite-time control approach is proposed for formation control of
multiple nonholonomic mobile robots with unknown actuator attacks and under directed …

We describe a control method for multi-agent vehicles, to make them adopt a formation
around a non-pre-specified point on the plane, and with common but non-pre-imposed …

This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent
displacement-based and rigid formation control and velocity tracking. The control law …

In this thesis we address and solve several concrete problems of control of multi-agent
systems under multiple inter-agent constraints. Some of our contributions address problems …