Marco Fabris; Angelo Cenedese; John Hauser Optimal Dynamic Formation Control for a Multi-Agent Linear System (Inproceedings) European Control Conference 2019, 2019. (Abstract | BibTeX | Tags: control, formation, multi-agent) @inproceedings{Fabris2019optimal, title = {Optimal Dynamic Formation Control for a Multi-Agent Linear System}, author = {Marco Fabris and Angelo Cenedese and John Hauser}, year = {2019}, date = {2019-06-28}, booktitle = {European Control Conference 2019}, abstract = {Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator Newton’s method is developed to find a solution by the minimization of a cost functional able to capture all these different tasks. To stabilize the formation, a particular potential function has been designed, allowing to obtain specified geometrical configurations while the barycenter position and velocity of the system follows a desired trajectory.}, keywords = {control, formation, multi-agent}, pubstate = {published}, tppubtype = {inproceedings} } Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator Newton’s method is developed to find a solution by the minimization of a cost functional able to capture all these different tasks. To stabilize the formation, a particular potential function has been designed, allowing to obtain specified geometrical configurations while the barycenter position and velocity of the system follows a desired trajectory. |

Giulia Michieletto; Angelo Cenedese Formation Control for Fully Actuated Systems: a Quaternion-based Bearing Rigidity Approach (Inproceedings) 2019, European Control Conference (Ed.): 2019. (Abstract | BibTeX | Tags: control, formation, rigidity) @inproceedings{Michieletto2019formation, title = {Formation Control for Fully Actuated Systems: a Quaternion-based Bearing Rigidity Approach}, author = {Giulia Michieletto and Angelo Cenedese }, editor = {European Control Conference 2019}, year = {2019}, date = {2019-06-28}, abstract = {This work deals with formations of mobile agents having six independently controllable degrees of freedom and able to retrieve relative bearing measurements w.r.t. their neighbors in the group. Exploiting the bearing rigidity framework, two control objectives are here addressed: (i) the stabilization of such fully actuated multi-agent systems towards desired con- figurations, and (ii) their coordinated motion along directions guaranteeing the system shape maintenance. The proposed approach relies on a new formulation of the bearing rigidity theory based on the adoption of the unit quaternion formalism to describe the agents attitude. Through this representation choice, the formation dynamics is linear w.r.t. the input control veloci- ties and the rigidity theory suggests the design of a distributed control scheme for both formation stabilization and collective motion whose efficacy is confirmed by numerical simulations.}, keywords = {control, formation, rigidity}, pubstate = {published}, tppubtype = {inproceedings} } This work deals with formations of mobile agents having six independently controllable degrees of freedom and able to retrieve relative bearing measurements w.r.t. their neighbors in the group. Exploiting the bearing rigidity framework, two control objectives are here addressed: (i) the stabilization of such fully actuated multi-agent systems towards desired con- figurations, and (ii) their coordinated motion along directions guaranteeing the system shape maintenance. The proposed approach relies on a new formulation of the bearing rigidity theory based on the adoption of the unit quaternion formalism to describe the agents attitude. Through this representation choice, the formation dynamics is linear w.r.t. the input control veloci- ties and the rigidity theory suggests the design of a distributed control scheme for both formation stabilization and collective motion whose efficacy is confirmed by numerical simulations. |

Giulia Michieletto; Angelo Cenedese; Antonio Franchi Bearing rigidity theory in SE(3) (Inproceedings) IEEE 55th Conference on Decision and Control (CDC), pp. 5950–5955, 2016, ISBN: 978-1-5090-1837-6. (Abstract | Links | BibTeX | Tags: formation, multi-agent, rigidity) @inproceedings{michieletto2016, title = {Bearing rigidity theory in SE(3)}, author = {Giulia Michieletto and Angelo Cenedese and Antonio Franchi}, url = {https://ieeexplore.ieee.org/document/7799182/}, doi = {10.1109/CDC.2016.7799182}, isbn = {978-1-5090-1837-6}, year = {2016}, date = {2016-01-01}, booktitle = {IEEE 55th Conference on Decision and Control (CDC)}, pages = {5950--5955}, abstract = {Rigidity theory has recently emerged as an efficient tool in the control field of coordinated multi-agent systems, such as multi-robot formations and UAVs swarms, which are characterized by sensing, communication and movement capabilities. This work aims at describing the rigidity properties for frameworks embedded in the three-dimensional Special Euclidean space SE(3) wherein each agent has 6DoF. In such a scenario, it is assumed that the devices are able to gather bearing measurements w.r.t. their neighbors, expressing them into their own body frame. The goal is then to identify the framework transformations that allow to preserve such measurements maintaining it rigid. Rigidity properties are mathematically formalized in this work which differs from the related literature as it faces the extension in three-dimensional space dealing with the 3D rotations manifold. In particular, the attention is focused on the infinitesimal SE(3)-rigidity for which a necessary and sufficient condition is provided.}, keywords = {formation, multi-agent, rigidity}, pubstate = {published}, tppubtype = {inproceedings} } Rigidity theory has recently emerged as an efficient tool in the control field of coordinated multi-agent systems, such as multi-robot formations and UAVs swarms, which are characterized by sensing, communication and movement capabilities. This work aims at describing the rigidity properties for frameworks embedded in the three-dimensional Special Euclidean space SE(3) wherein each agent has 6DoF. In such a scenario, it is assumed that the devices are able to gather bearing measurements w.r.t. their neighbors, expressing them into their own body frame. The goal is then to identify the framework transformations that allow to preserve such measurements maintaining it rigid. Rigidity properties are mathematically formalized in this work which differs from the related literature as it faces the extension in three-dimensional space dealing with the 3D rotations manifold. In particular, the attention is focused on the infinitesimal SE(3)-rigidity for which a necessary and sufficient condition is provided. |

Angelo Cenedese; Chiara Favaretto; Guido Occioni Multi-agent Swarm Control through Kuramoto Modeling (Inproceedings) 55th Conference on Decision and Control (CDC16), pp. 1820-1825, Las Vegas, NV, 2016, ISBN: 978-1-5090-1837-6, (DOI: 10.1109/CDC.2016.7798529 Electronic ISBN: 978-1-5090-1837-6 DVD ISBN: 978-1-5090-1844-4 Print on Demand(PoD) ISBN: 978-1-5090-1838-3). (Abstract | Links | BibTeX | Tags: formation, Kuramoto, multi-agent, synchronization, UAVs) @inproceedings{NnAaaah, title = {Multi-agent Swarm Control through Kuramoto Modeling}, author = {Angelo Cenedese and Chiara Favaretto and Guido Occioni}, url = {https://ieeexplore.ieee.org/document/7798529/}, doi = {10.1109/CDC.2016.7798529}, isbn = {978-1-5090-1837-6}, year = {2016}, date = {2016-01-01}, booktitle = {55th Conference on Decision and Control (CDC16)}, pages = {1820-1825}, address = {Las Vegas, NV}, abstract = {In this paper we discuss a particular case of synchronization involving a finite population of nonlinearly coupled oscillators. We employ a discrete time approximation of the Kuramoto model in order to achieve the coordination of the heading directions of N identical vehicles moving at a constant speed in a 2D environment; this model acts as a base for a more complex distributed control, the aim of which is to direct the vehicles towards a target, adjusting their trajectories alongside their formation in the process, while avoiding collisions.}, note = {DOI: 10.1109/CDC.2016.7798529 Electronic ISBN: 978-1-5090-1837-6 DVD ISBN: 978-1-5090-1844-4 Print on Demand(PoD) ISBN: 978-1-5090-1838-3}, keywords = {formation, Kuramoto, multi-agent, synchronization, UAVs}, pubstate = {published}, tppubtype = {inproceedings} } In this paper we discuss a particular case of synchronization involving a finite population of nonlinearly coupled oscillators. We employ a discrete time approximation of the Kuramoto model in order to achieve the coordination of the heading directions of N identical vehicles moving at a constant speed in a 2D environment; this model acts as a base for a more complex distributed control, the aim of which is to direct the vehicles towards a target, adjusting their trajectories alongside their formation in the process, while avoiding collisions. |

# List of Publications

Optimal Dynamic Formation Control for a Multi-Agent Linear System (Inproceedings) European Control Conference 2019, 2019. |

Formation Control for Fully Actuated Systems: a Quaternion-based Bearing Rigidity Approach (Inproceedings) 2019, European Control Conference (Ed.): 2019. |

Bearing rigidity theory in SE(3) (Inproceedings) IEEE 55th Conference on Decision and Control (CDC), pp. 5950–5955, 2016, ISBN: 978-1-5090-1837-6. |

Multi-agent Swarm Control through Kuramoto Modeling (Inproceedings) 55th Conference on Decision and Control (CDC16), pp. 1820-1825, Las Vegas, NV, 2016, ISBN: 978-1-5090-1837-6, (DOI: 10.1109/CDC.2016.7798529 Electronic ISBN: 978-1-5090-1837-6 DVD ISBN: 978-1-5090-1844-4 Print on Demand(PoD) ISBN: 978-1-5090-1838-3). |