English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper addresses the problem of position- and orientation-based formationcontrol of a class of second-order nonlinear multi-agent systems in a $3$Dworkspace with obstacles. More specifically, we design a decentralized controlprotocol such that each agent achieves a predefined geometric formation withits initial neighbors, while using local information based on a limited sensingradius. The latter implies that the proposed scheme guarantees that theinitially connected agents remain always connected. In addition, by introducingcertain distance constraints, we guarantee inter-agent collision avoidance aswell as collision avoidance with the obstacles and the boundary of theworkspace. The proposed controllers employ a novel class of potential functionsand do not require a priori knowledge of the dynamical model, except forgravity-related terms. Finally, simulation results verify the validity of theproposed framework.

Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance