Hector Garcia de Marina

TL;DR: By introducing such a pair of parameters per distance constraint, distributed controller achieving simultaneously both formation and motion control can be designed that not only encompasses the popular gradient control, but more importantly allows us to achieve constant collective translation, rotation, or their combination, while guaranteeing asymptotically that no distortion in the formation shape occurs.

TL;DR: This work proves rigorously that the proposed gradient control is able to guarantee exponential convergence, and demonstrates through robotic experiments and computer simulations that the reported inconsistency-induced orbits of collective movements are effectively eliminated.

TL;DR: In this article, instead of treating mismatches as the source of ill performance, the authors take them as design parameters and show that by introducing such a pair of parameters per distance constraint, distributed controller achieving simultaneously both formation and motion control can be designed that not only encompasses the popular gradient control, but also allows to achieve constant collective translation, rotation or their combination while guaranteeing asymptotically no distortion in the formation shape occurs.

TL;DR: In this paper, the authors exploit local estimators following the well-known internal model principle for robust output regulation control, and prove rigorously that the proposed control is able to guarantee exponential convergence and then demonstrate through robotic experiments and computer simulations that the reported inconsistency-induced orbits of collective movements are effectively eliminated.

TL;DR: This paper proposes a combined controller to stabilize a formation shape and synchronize the heading of each agent simultaneously and considers several different formation design approaches based on different formation specifications under different interaction graphs.