A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.
Near-identity diffeomorphisms and exponential e- tracking and 6-stabilization of first-order nonholonomic SE(2) vehicles,
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Disentangled Control of Multi-Agent Systems
A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.