Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

Recent advances in miniaturizing of computing, communication, sensing, and actuation
have made it feasible to envision large numbers of autonomous vehicles (air, ground, and …

This paper addresses the control of a team of nonholonomic mobile robots navigating in a
terrain with obstacles while maintaining a desired formation and changing formations when …

Built on the combined strength of decentralized control and the recently introduced virtual
structure approach, a decentralized formation scheme for spacecraft formation flying is …

The paper investigates the stability properties of mobile agent formations which are based
on leader following. We derive nonlinear gain estimates that capture how leader behavior …

This paper considers two cooperative control problems for nonholonomic mobile agents. In
the first problem, we discuss the design of cooperative control laws such that a group of …

Formation control ideas for multiple spacecraft using the virtual structure approach are
presented. If there is no formation feedback from the spacecraft to the virtual structure, the …

This paper is concerned with planning the motion of mobile robots in formation, which
means certain geometrical constraints are imposed on the relative positions and orientations …

We describe a framework for controlling and coordinating a group of robots for cooperative
manipulation tasks. The framework enables a decentralized approach to planning and …

We describe a framework for coordinating multiple robots in cooperative manipulation tasks
in which vision is used for establishing relative position and orientation and maintaining …