A nonlinear distributed event-triggered formation controller for multi-agent systems based on distance measurements with control barrier functions for collision avoidance is proposed and validated via simulations and real-robot experiments.
Distance-based formation shape stabilisation via event-triggered control,
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Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems
A nonlinear distributed event-triggered formation controller for multi-agent systems based on distance measurements with control barrier functions for collision avoidance is proposed and validated via simulations and real-robot experiments.