Multi-agent distributed coordination control: Developments and directions via graph viewpoint

In this paper, the recent developments of distributed coordination control problems are summarized in a graph-theory-based framework. Distributed coordination has attracted tremendous attention in control and robot communities because of its potential applications in the past decade. The graph is used to describe the interconnections among agents, and different distributed coordination control problems, such as consensus, formation control, rendezvous, alignment, swarming, flocking, containment control and circumnavigation control, are adopted to this description by considering different cooperative objects. Therefore it is natural to study the distributed coordination control problems via graph theory, and the graph-theory-based results on consensus, formation control, and some closely related issues, i.e., rendezvous/alignment, swarming/flocking, containment control and circumnavigation control, are reviewed, and provide a cohesive overview in the coordination control problems, in system modeling, control law designs and analysis, and structure transformation. Finally, towards the practical applications, some potential directions possibly deserving investigation in distributed coordination control are discussed.

[1]  Craig W. Reynolds.  Flocks, herds, and schools: a distributed behavioral model , 1987, SIGGRAPH.

[2]  Randal W. Beard,et al.  Synchronized multiple spacecraft rotations , 2002, Autom..

[3]  Zhong-Ping Jiang,et al.  Distributed Output-Feedback Control of Nonlinear Multi-Agent Systems , 2013, IEEE Transactions on Automatic Control.

[4]  J. Ruan,et al.  Consensus in noisy environments with switching topology and time-varying delays , 2010 .

[5]  Hamid Reza Karimi,et al.  $H_{\infty}$ Consensus and Synchronization of Nonlinear Systems Based on A Novel Fuzzy Model , 2013, IEEE Transactions on Cybernetics.

[6]  J. Toner,et al.  Hydrodynamics and phases of flocks , 2005 .

[7]  Daniel Liberzon,et al.  Rendezvous without coordinates , 2008, 2008 47th IEEE Conference on Decision and Control.

[8]  Shaoshuai Mou,et al.  Undirected Rigid Formations Are Problematic , 2015, IEEE Transactions on Automatic Control.

[9]  Ruggero Carli,et al.  Quantized average consensus via dynamic coding/decoding schemes , 2010 .

[10]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[11]  George J. Pappas,et al.  Flocking in Fixed and Switching Networks , 2007, IEEE Transactions on Automatic Control.

[12]  Lihua Xie,et al.  Distributed consensus over digital networks with limited bandwidth and time-varying topologies , 2011, Autom..

[13]  Simon Hubbard,et al.  A model of the formation of fish schools and migrations of fish , 2004 .

[14]  Mohamed I. El-Hawwary,et al.  Three-dimensional circular formations via set stabilization , 2015, Autom..

[15]  L. Moreau,et al.  Stability of continuous-time distributed consensus algorithms , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[16]  Shiyu Zhao,et al.  Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization , 2014, IEEE Transactions on Automatic Control.

[17]  Vijay Kumar,et al.  Leader-to-formation stability , 2004, IEEE Transactions on Robotics and Automation.

[18]  Brian D. O. Anderson,et al.  Reaching a Consensus in a Dynamically Changing Environment: Convergence Rates, Measurement Delays, and Asynchronous Events , 2008, SIAM J. Control. Optim..

[19]  Yu-Ping Tian,et al.  Allowable delay bound for consensus of linear multi-agent systems with communication delay , 2014, Int. J. Syst. Sci..

[20]  Guangming Xie,et al.  Consensus control for a class of networks of dynamic agents , 2007 .

[21]  Vincent D. Blondel,et al.  Three and higher dimensional autonomous formations: Rigidity, persistence and structural persistence , 2007, Autom..

[22]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[23]  Yongcan Cao,et al.  Distributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach , 2012, IEEE Transactions on Automatic Control.

[24]  Mireille E. Broucke,et al.  Stabilisation of infinitesimally rigid formations of multi-robot networks , 2009, Int. J. Control.

[25]  Guangfu Ma,et al.  Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph , 2012, Autom..

[26]  Wei Ren,et al.  Distributed consensus of linear multi-agent systems with adaptive dynamic protocols , 2011, Autom..

[27]  Zhong-Ping Jiang,et al.  Distributed formation control of nonholonomic mobile robots without global position measurements , 2013, Autom..

[28]  Masayuki Fujita,et al.  Passivity-Based Pose Synchronization in Three Dimensions , 2012, IEEE Transactions on Automatic Control.

[29]  Manfredi Maggiore,et al.  Necessary and sufficient graphical conditions for formation control of unicycles , 2005, IEEE Transactions on Automatic Control.

[30]  Guodong Shi,et al.  Set tracking of multi-agent systems with variable topologies guided by moving multiple leaders , 2010, 49th IEEE Conference on Decision and Control (CDC).

[31]  H.G. Tanner,et al.  State synchronization in local-interaction networks is robust with respect to time delays , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[32]  Hyo-Sung Ahn,et al.  A survey of multi-agent formation control , 2015, Autom..

[33]  Mehran Mesbahi,et al.  On maximizing the second smallest eigenvalue of a state-dependent graph Laplacian , 2006, IEEE Transactions on Automatic Control.

[34]  Zhiyong Chen,et al.  Semi-Global Consensus of Nonlinear Second-Order Multi-Agent Systems With Measurement Output Feedback , 2014, IEEE Transactions on Automatic Control.

[35]  M. Beekman,et al.  Honeybee swarms: how do scouts guide a swarm of uninformed bees? , 2005, Animal Behaviour.

[36]  Hyungbo Shim,et al.  Consensus of high-order linear systems using dynamic output feedback compensator: Low gain approach , 2009, Autom..

[37]  Ziyang Meng,et al.  Robust cooperative tracking for multiple non-identical second-order nonlinear systems , 2013, Autom..

[38]  Ji-Feng Zhang,et al.  Distributed dynamic consensus under quantized communication data , 2015 .

[39]  Xiaobo Li,et al.  Quantized consensus of second-order continuous-time multi-agent systems with a directed topology via sampled data , 2013, Autom..

[40]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[41]  Giancarlo Ferrari-Trecate,et al.  Containment Control in Mobile Networks , 2008, IEEE Transactions on Automatic Control.

[42]  G. Laman.  On graphs and rigidity of plane skeletal structures , 1970 .

[43]  Yang Liu,et al.  Consensus problem of high‐order multi‐agent systems with external disturbances: An H∞ analysis approach , 2010 .

[44]  Lorenzo Sabattini,et al.  Edge-weighted consensus-based formation control strategy with collision avoidance , 2014, Robotica.

[45]  Jie Huang,et al.  Stability of a class of linear switching systems with applications to two consensus problems , 2011, ACC.

[46]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[47]  Nathan van de Wouw,et al.  Formation control of unicycle mobile robots: a virtual structure approach , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[48]  W. Rappel,et al.  Self-organization in systems of self-propelled particles. , 2000, Physical review. E, Statistical, nonlinear, and soft matter physics.

[49]  N.E. Leonard,et al.  Orientation control of multiple underwater vehicles with symmetry-breaking potentials , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[50]  Claudio De Persis,et al.  Coordination of Passive Systems under Quantized Measurements , 2011, SIAM J. Control. Optim..

[51]  Zhiwen Zeng,et al.  Convergence analysis using the edge Laplacian: Robust consensus of nonlinear multi‐agent systems via ISS method , 2015, ArXiv.

[52]  Yingmin Jia,et al.  H α consensus control of a class of high-order multi-agent systems , 2011 .

[53]  Yisheng Zhong,et al.  Consensus problems for high-order linear time-invariant swarm systems , 2010 .

[54]  Wenjie Dong,et al.  Tracking Control of Multiple-Wheeled Mobile Robots With Limited Information of a Desired Trajectory , 2012, IEEE Transactions on Robotics.

[55]  John N. Tsitsiklis,et al.  Convergence Speed in Distributed Consensus and Averaging , 2009, SIAM J. Control. Optim..

[56]  Wei Ren,et al.  Information consensus in multivehicle cooperative control , 2007, IEEE Control Systems.

[57]  Shaoshuai Mou,et al.  Formation movements in minimally rigid formation control with mismatched mutual distances , 2014, 53rd IEEE Conference on Decision and Control.

[58]  Giuseppe Conte,et al.  The Rendezvous Problem With Discontinuous Control Policies , 2010, IEEE Transactions on Automatic Control.

[59]  Karl Henrik Johansson,et al.  Connectivity and Set Tracking of Multi-Agent Systems Guided by Multiple Moving Leaders , 2011, IEEE Transactions on Automatic Control.

[60]  Vijay Kumar,et al.  Modeling and control of formations of nonholonomic mobile robots , 2001, IEEE Trans. Robotics Autom..

[61]  Domenico Prattichizzo,et al.  Discussion of paper by , 2003 .

[62]  Mireille E. Broucke,et al.  Formations of vehicles in cyclic pursuit , 2004, IEEE Transactions on Automatic Control.

[63]  J. Hendrickx,et al.  Rigid graph control architectures for autonomous formations , 2008, IEEE Control Systems.

[64]  Mehran Mesbahi,et al.  Edge Agreement: Graph-Theoretic Performance Bounds and Passivity Analysis , 2011, IEEE Transactions on Automatic Control.

[65]  Frank L. Lewis,et al.  Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties , 2013, Autom..

[66]  I. Couzin,et al.  Effective leadership and decision-making in animal groups on the move , 2005, Nature.

[67]  Gang Feng,et al.  Leader-follower consensus of time-varying nonlinear multi-agent systems , 2015, Autom..

[68]  Ziyang Meng,et al.  Distributed finite-time attitude containment control for multiple rigid bodies , 2010, Autom..

[69]  Randal W. Beard,et al.  Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach , 2004 .

[70]  Karl Henrik Johansson,et al.  Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control , 2010, Autom..

[71]  Yongcan Cao,et al.  Finite-time consensus for multi-agent networks with unknown inherent nonlinear dynamics , 2013, Autom..

[72]  Hui Liu,et al.  Quantization effects on synchronized motion of teams of mobile agents with second-order dynamics , 2012, Syst. Control. Lett..

[73]  Luc Moreau,et al.  Stability of multiagent systems with time-dependent communication links , 2005, IEEE Transactions on Automatic Control.

[74]  YangQuan Chen,et al.  High-Order Consensus Algorithms in Cooperative Vehicle Systems , 2006, 2006 IEEE International Conference on Networking, Sensing and Control.

[75]  Ping Wang,et al.  Robust H∞ containment control for second-order multi-agent systems with nonlinear dynamics in directed networks , 2015, Neurocomputing.

[76]  Florian Dörfler,et al.  Formation control of autonomous robots based on cooperative behavior , 2009, 2009 European Control Conference (ECC).

[77]  Wei Wang,et al.  Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots , 2014, Autom..

[78]  Qipeng Liu,et al.  Quantized consensus over directed networks with switching topologies , 2014, Syst. Control. Lett..

[79]  Dimos V. Dimarogonas,et al.  On the Rendezvous Problem for Multiple Nonholonomic Agents , 2007, IEEE Transactions on Automatic Control.

[80]  Magnus Egerstedt,et al.  Distributed Coordination Control of Multiagent Systems While Preserving Connectedness , 2007, IEEE Transactions on Robotics.

[81]  Stephen P. Boyd,et al.  Fast linear iterations for distributed averaging , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[82]  Per Johan Nicklasson,et al.  Synchronization of Target Tracking Cascaded Leader-Follower Spacecraft Formation , 2011 .

[83]  Yongcan Cao,et al.  Containment control with multiple stationary or dynamic leaders under a directed interaction graph , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[84]  Wei Ren,et al.  Formation Keeping and Attitude Alignment for Multiple Spacecraft Through Local Interactions , 2007 .

[85]  Wenjie Dong,et al.  Flocking of Multiple Mobile Robots Based on Backstepping , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[86]  Jie Lin,et al.  The multi-agent rendezvous problem , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[87]  P. Giordano,et al.  Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements , 2013, 2014 European Control Conference (ECC).

[88]  Ali Hamzeh,et al.  A PSO-based multi-robot cooperation method for target searching in unknown environments , 2016, Neurocomputing.

[89]  Yongduan Song,et al.  Adaptive finite-time consensus control of a group of uncertain nonlinear mechanical systems , 2015, Autom..

[90]  Sonia Martínez,et al.  Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions , 2006, IEEE Transactions on Automatic Control.

[91]  Zongli Lin,et al.  Flocking of Multi-Agents With a Virtual Leader , 2009, IEEE Transactions on Automatic Control.

[92]  Jiahu Qin,et al.  Second-order consensus with unknown dynamics via cyclic-small-gain method , 2012 .

[93]  Zhongkui Li,et al.  High-order multi-agent consensus with dynamically changing topologies and time-delays , 2011 .

[94]  Yu-Ping Tian,et al.  Global stabilization of rigid formations in the plane , 2013, Autom..

[95]  Magnus Egerstedt,et al.  Automatic Generation of Persistent Formations for Multi-agent Networks Under Range Constraints , 2007, Mob. Networks Appl..

[96]  Frank L. Lewis,et al.  Cooperative adaptive control for synchronization of second‐order systems with unknown nonlinearities , 2011 .

[97]  Tingwen Huang,et al.  Second-Order Locally Dynamical Consensus of Multiagent Systems With Arbitrarily Fast Switching Directed Topologies , 2013, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[98]  Francesco Bullo,et al.  Multirobot Rendezvous With Visibility Sensors in Nonconvex Environments , 2006, IEEE Transactions on Robotics.

[99]  Shaoshuai Mou,et al.  Toward robust control of minimally rigid undirected formations , 2014, 53rd IEEE Conference on Decision and Control.

[100]  A. Stephen Morse,et al.  Operations on Rigid Formations of Autonomous Agents , 2003, Commun. Inf. Syst..

[101]  Jian Chen,et al.  Leader-Follower Formation Control of Multiple Non-holonomic Mobile Robots Incorporating a Receding-horizon Scheme , 2010, Int. J. Robotics Res..

[102]  A.S. Morse,et al.  Finite Time Distance-based Rigid Formation Stabilization and Flocking , 2014 .

[103]  Wenwu Yu,et al.  An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination , 2012, IEEE Transactions on Industrial Informatics.

[104]  Yang Liu,et al.  H ∞ consensus control for multi-agent systems with linear coupling dynamics and communication delays , 2012, Int. J. Syst. Sci..

[105]  Xiao Fan Wang,et al.  Synchronization of coupled harmonic oscillators in a dynamic proximity network , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[106]  Giuseppe Oriolo,et al.  Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance , 2013, Auton. Robots.

[107]  Brian D. O. Anderson,et al.  The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case , 2007, SIAM J. Control. Optim..

[108]  Dongjun Lee,et al.  Stable Flocking of Multiple Inertial Agents on Balanced Graphs , 2007, IEEE Transactions on Automatic Control.

[109]  Pierre-Alexandre Bliman,et al.  Average consensus problems in networks of agents with delayed communications , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[110]  Jinde Cao,et al.  $M$-Matrix Strategies for Pinning-Controlled Leader-Following Consensus in Multiagent Systems With Nonlinear Dynamics , 2013, IEEE Transactions on Cybernetics.

[111]  Gianluca Antonelli,et al.  Experiments of Formation Control With Multirobot Systems Using the Null-Space-Based Behavioral Control , 2009, IEEE Transactions on Control Systems Technology.

[112]  Masafumi Yamashita,et al.  Distributed memoryless point convergence algorithm for mobile robots with limited visibility , 1999, IEEE Trans. Robotics Autom..

[113]  R. Srikant,et al.  Quantized Consensus , 2006, 2006 IEEE International Symposium on Information Theory.

[114]  Daniel Zelazo,et al.  Graph-theoretic methods for the analysis and synthesis of networked dynamic systems , 2009 .

[115]  Yiguang Hong,et al.  Target containment control of multi-agent systems with random switching interconnection topologies , 2012, Autom..

[116]  Domenico Prattichizzo,et al.  On a Class of Hierarchical Formations of Unicycles and Their Internal Dynamics , 2012, IEEE Transactions on Automatic Control.

[117]  Tao Li,et al.  Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems , 2007, J. Intell. Robotic Syst..

[118]  Shaoshuai Mou,et al.  Non-robustness of gradient control for 3-D undirected formations with distance mismatch , 2013, 2013 Australian Control Conference.

[119]  Ziyang Meng,et al.  Distributed Containment Control for Multiple Autonomous Vehicles With Double-Integrator Dynamics: Algorithms and Experiments , 2011, IEEE Transactions on Control Systems Technology.

[120]  Guangming Xie,et al.  The χ‐consensus problem of high‐order multi‐agent systems with fixed and switching topologies , 2008 .

[121]  Yongcan Cao,et al.  Distributed formation control for fractional-order systems: Dynamic interaction and absolute/relative damping , 2010, Syst. Control. Lett..

[122]  Stefano Chiaverini,et al.  The Null-Space-based Behavioral Control for Mobile Robots with Velocity Actuator Saturations , 2010, Int. J. Robotics Res..

[123]  Jorge Cortes,et al.  Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms , 2009 .

[124]  Yongsheng Ding,et al.  Self-organized swarm robot for target search and trapping inspired by bacterial chemotaxis , 2015, Robotics Auton. Syst..

[125]  Hugh H. T. Liu,et al.  Formation UAV flight control using virtual structure and motion synchronization , 2008, 2008 American Control Conference.

[126]  Vincent D. Blondel,et al.  Formation Reorganization by Primitive Operations on Directed Graphs , 2008, IEEE Transactions on Automatic Control.

[127]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[128]  B. Anderson,et al.  Directed graphs for the analysis of rigidity and persistence in autonomous agent systems , 2007 .

[129]  Masayuki Fujita,et al.  Passivity-Based Attitude Synchronization in $SE(3)$ , 2009, IEEE Transactions on Control Systems Technology.

[130]  Dimos V. Dimarogonas,et al.  Leader-follower cooperative attitude control of multiple rigid bodies , 2008, 2008 American Control Conference.

[131]  Changbin Yu,et al.  ISS Method for Coordination Control of Nonlinear Dynamical Agents Under Directed Topology , 2014, IEEE Transactions on Cybernetics.

[132]  Jinde Cao,et al.  Second-order leader-following consensus of nonlinear multi-agent systems via pinning control , 2010, Syst. Control. Lett..

[133]  Ali Jadbabaie,et al.  Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents , 2007, IEEE Transactions on Automatic Control.

[134]  Long Wang,et al.  Connectivity preservation for multi-agent rendezvous with link failure , 2012, Autom..

[135]  Shaoshuai Mou,et al.  Fix the non-robustness issue for a class of minimally rigid undirected formations , 2014, 2014 American Control Conference.

[136]  Dimos V. Dimarogonas,et al.  Consensus with quantized relative state measurements , 2013, Autom..

[137]  Mengyin Fu,et al.  Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols , 2011, IEEE Transactions on Automatic Control.

[138]  Tong Heng Lee,et al.  Distributed control of angle-constrained circular formations using bearing-only measurements , 2012, 2013 9th Asian Control Conference (ASCC).

[139]  Manfredi Maggiore,et al.  State Agreement for Continuous-Time Coupled Nonlinear Systems , 2007, SIAM J. Control. Optim..

[140]  Vicsek,et al.  Novel type of phase transition in a system of self-driven particles. , 1995, Physical review letters.

[141]  Qipeng Liu,et al.  Consensus seeking over directed networks with limited information communication , 2013, Autom..

[142]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

[143]  Arpita Sinha,et al.  Target Centric Cyclic Pursuit using Bearing Angle Measurements Only , 2014 .

[144]  François Michaud,et al.  Autonomous initialization of robot formations , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[145]  Naomi Ehrich Leonard,et al.  Autonomous rigid body attitude synchronization , 2007, 2007 46th IEEE Conference on Decision and Control.

[146]  Yu-Ping Tian,et al.  High-order consensus of heterogeneous multi-agent systems , 2011, 2011 8th Asian Control Conference (ASCC).

[147]  Changbin Yu,et al.  A Dual Quaternion Solution to Attitude and Position Control for Rigid-Body Coordination , 2012, IEEE Transactions on Robotics.

[148]  Magnus Egerstedt,et al.  Graph Theoretic Methods in Multiagent Networks , 2010, Princeton Series in Applied Mathematics.

[149]  K.Y. Pettersen,et al.  Leader/Follower synchronization of satellite attitude without angular velocity measurements , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[150]  Brian D. O. Anderson,et al.  Reaching a Consensus in a Dynamically Changing Environment: Convergence Rates, Measurement Delays, and Asynchronous Events , 2008, SIAM J. Control. Optim..

[151]  Evangelos Kranakis,et al.  Mobile Agent Rendezvous: A Survey , 2006, SIROCCO.

[152]  Javad Lavaei,et al.  Quantized Consensus by Means of Gossip Algorithm , 2012, IEEE Transactions on Automatic Control.

[153]  W. Ren.  Formation Keeping and Attitude Alignment for Multiple Spacecraft Through Local Interactions , 2007 .

[154]  Y. Ahmet Sekercioglu,et al.  Swarm robotics reviewed , 2012, Robotica.

[155]  Tyler H. Summers,et al.  Control of Minimally Persistent Leader-Remote-Follower and Coleader Formations in the Plane , 2011, IEEE Transactions on Automatic Control.

[156]  Kar-Han Tan,et al.  High Precision Formation Control of Mobile Robots Using Virtual Structures , 1997, Auton. Robots.

[157]  Yu-Ping Tian,et al.  Brief paper: High-order consensus of heterogeneous multi-agent systems with unknown communication delays , 2012 .

[158]  B. Anderson,et al.  Controlling Four Agent Formations , 2010 .

[159]  Wei Xing Zheng,et al.  Consensus of multiple second-order vehicles with a time-varying reference signal under directed topology , 2011, Autom..

[160]  Frank Allgöwer,et al.  Consensus in Multi-Agent Systems With Coupling Delays and Switching Topology , 2011, IEEE Transactions on Automatic Control.

[161]  Xiao Fan Wang,et al.  Flocking of Multi-Agents With a Virtual Leader , 2009, IEEE Trans. Autom. Control..

[162]  Brian D. O. Anderson,et al.  Control of Minimally Persistent Formations in the Plane , 2009, SIAM J. Control. Optim..

[163]  Wenwu Yu,et al.  Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics , 2010, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[164]  Xiaoming Hu,et al.  Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications (Ren, W. and Beard, R.W.; 2008) [Book Shelf] , 2010, IEEE Control Systems.

[165]  Magnus Egerstedt,et al.  Controllability of Multi-Agent Systems from a Graph-Theoretic Perspective , 2009, SIAM J. Control. Optim..

[166]  Dusan M. Stipanovic,et al.  Formation control and coordinated tracking via asymptotic decoupling for Lagrangian multi-agent systems , 2011, Autom..

[167]  Vijay Kumar,et al.  Cooperative manipulation and transportation with aerial robots , 2009, Robotics: Science and Systems.

[168]  Chen Han.  FROM SWARM TO SOCIAL BEHAVIOR CONTROL , 2004 .

[169]  Gregory Dudek,et al.  MARE: Marine Autonomous Robotic Explorer , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[170]  Lihua Xie,et al.  Distributed Consensus With Limited Communication Data Rate , 2011, IEEE Transactions on Automatic Control.

[171]  Mireille E. Broucke,et al.  Local control strategies for groups of mobile autonomous agents , 2004, IEEE Transactions on Automatic Control.

[172]  Toshiharu Sugie,et al.  Cooperative control for target-capturing task based on a cyclic pursuit strategy , 2007, Autom..

[173]  Lu Gui-zhang.  Thinking in formation control , 2005 .

[174]  Manfredi Maggiore,et al.  Distributed Control and Analysis of Coupled Cell Systems , 2008 .

[175]  Raffaello D'Andrea,et al.  The Distributed Flight Array , 2011 .

[176]  Magnus Egerstedt,et al.  Geometric foraging strategies in multi-agent systems based on biological models , 2010, 49th IEEE Conference on Decision and Control (CDC).

[177]  Jing Bai,et al.  Distributed formation control of fractional-order multi-agent systems with absolute damping and communication delay , 2015, Int. J. Syst. Sci..

[178]  Jaydev P. Desai,et al.  A Graph Theoretic Approach for Modeling Mobile Robot Team Formations , 2002, J. Field Robotics.

[179]  Lihua Xie,et al.  Distributed Tracking Control for Linear Multiagent Systems With a Leader of Bounded Unknown Input , 2013, IEEE Transactions on Automatic Control.

[180]  R. Murray,et al.  Graph rigidity and distributed formation stabilization of multi-vehicle systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[181]  Antonio Franchi,et al.  Decentralized rigidity maintenance control with range measurements for multi-robot systems , 2013, Int. J. Robotics Res..

[182]  Brian D. O. Anderson,et al.  The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case , 2007, SIAM J. Control. Optim..

[183]  Wei Ren,et al.  Consensus based formation control strategies for multi-vehicle systems , 2006, 2006 American Control Conference.

[184]  Tyler H. Summers,et al.  Controlling rectangular formations , 2011, 2011 Australian Control Conference.

[185]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

[186]  Raffaello D'Andrea,et al.  Quadrocopter ball juggling , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[187]  Shengyuan Xu,et al.  Distributed Containment Control with Multiple Dynamic Leaders for Double-Integrator Dynamics Using Only Position Measurements , 2012, IEEE Transactions on Automatic Control.

[188]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[189]  Lihua Xie,et al.  Network Topology and Communication Data Rate for Consensusability of Discrete-Time Multi-Agent Systems , 2011, IEEE Transactions on Automatic Control.

[190]  Minyue Fu,et al.  Distributed control for uniform circumnavigation of ring-coupled unicycles , 2015, Autom..

[191]  Hyo-Sung Ahn,et al.  Formation control of mobile agents based on inter-agent distance dynamics , 2011, Autom..

[192]  Yunhui Liu,et al.  Enclosing a target by nonholonomic mobile robots with bearing-only measurements , 2015, Autom..

[193]  Magnus Egerstedt,et al.  Persistent formation control of multi-robot networks , 2008, 2008 47th IEEE Conference on Decision and Control.

[194]  Shaoshuai Mou,et al.  Robustness issues with undirected formations , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[195]  Long Wang,et al.  Consensus seeking of high-order dynamic multi-agent systems with fixed and switching topologies , 2010, Int. J. Control.

[196]  Yongcan Cao,et al.  Distributed Coordination of Networked Fractional-Order Systems , 2010, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).