Cooperative Label-Free Moving Target Fencing for Second-Order Multi-Agent Systems with Rigid Formation

Bin-Bin Hu, Hai-Tao Zhang, Yang Shi
11/2/2023
cs.MA

No confident code implementation found for this paper. 1 possible match can be shown below.

Abstract

This paper proposes a label-free controller for a second-order multi-agent system to cooperatively fence a moving target of variational velocity into a convex hull formed by the agents whereas maintaining a rigid formation. Therein, no label is predetermined for a specified agent. To attain a rigid formation with guaranteed collision avoidance, each controller consists of two terms: a dynamic regulator with an internal model to drive agents towards the moving target merely by position information feedback, and a repulsive force between each pair of adjacent agents. Significantly, sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop systems governed by the proposed fencing controller. Rigorous analysis is provided to eliminate the strong nonlinear couplings induced by the label-free property. Finally, the effectiveness of the controller is substantiated by numerical simulations.

View on arXivView PDF

Code Implementations

No confident code match yet

We couldn't find an author-owned or strongly-evidenced community implementation for this paper. 1 weaker match is hidden by default — verify before relying on them.

No code implementations found yet.

Know of an implementation? Let us know in the comments below!

Similar Papers

Safe Region Multi-Agent Formation Control With Velocity Tracking

80% match2023

Novel Pigeon-inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems

79% match2025

Decentralized Contingency MPC based on Safe Sets for Nonlinear Multi-agent Collision Avoidance

77% match2026

Self-organizing Multiagent Target Enclosing under Limited Information and Safety Guarantees

77% match2024

Area-Optimal Control Strategies for Heterogeneous Multi-Agent Pursuit

77% match2025

Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications

76% match1 repo62025

Cite this paper

@article{hu2023cooperative,
  title  = {Cooperative Label-Free Moving Target Fencing for Second-Order Multi-Agent Systems with Rigid Formation},
  author = {Bin-Bin Hu and Hai-Tao Zhang and Yang Shi},
  year   = {2023},
  eprint = {2311.00978},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2311.00978v1}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/2311.00978.svg)](https://codeofpaper.com/paper/2311.00978)

Discussion