Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust Distributed Planar Formation Control for Higher-Order Holonomic
  and Nonholonomic Agents   We present a distributed formation control strategy for agents with a variety
of dynamics to achieve a desired planar formation. Our approach is based on the
barycentric-coordinate-based (BCB) control, which is fully distributed, does
not require inter-agent communication or a common sense of orientation, and can
be implemented using relative position measurements acquired by agents in their
local coordinate frames. This removes the need for global positioning or
alignment of local coordinate frames, which are required across several
existing strategies. We show how the BCB control for agents with the simplest
dynamical model, i.e., the single-integrator dynamics, can be extended to
agents with higher-order dynamics such as quadrotors, and nonholonomic agents
such as unicycles and cars. Specifically, our extension preserves the desired
convergence and robustness guarantees of the BCB approach and is provably
robust to saturations in the input and unmodeled linear actuator dynamics for
unicycle and car agents. We further show that under our proposed BCB control
design, the agents can move along a rotated and scaled control direction
without affecting the convergence to the desired formation. This observation is
used to design a fully distributed collision avoidance strategy, which is often
not considered in the formation control literature. We demonstrate the proposed
approach in simulations and further present a distributed robotic platform to
test the strategy experimentally. Our experimental platform consists of
off-the-shelf equipment that can be used to test and validate other multi-agent
algorithms. The code and implementation instructions for this platform are
available online.

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The categories of this paper are: astro-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: math
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The categories of this paper are: stat
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The categories of this paper are: hep-ex
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The categories of this paper are: atom-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: hep-ph
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The categories of this paper are: cmp-lg
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The categories of this paper are: hep-lat
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The categories of this paper are: math-ph
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The categories of this paper are: supr-con
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The categories of this paper are: quant-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: patt-sol
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The categories of this paper are: alg-geom