Work

LMI -based formation control with collision avoidance for air-ground fleet

Year: 2026

Type: article

Abstract: This paper proposes a formation controller for a fleet composed of two unicycles and a quadcopter. The formation problem is defined as a min-max problem whose optimal control strategy is linear in the local measurements of each agent, and the matrix gains are obtained by solving a Linear Matrix Inequality. Artificial repulsive forces are added to avoid inter-agent collisions and obstacles. The proposed control scheme was validated both in simulation and through several experiments, involving both static and dynamic obstacles. The results show that the agents can achieve the formation without crashes.

Source: Control Engineering Practice

DOI: 10.1016/j.conengprac.2026.107007

Authors: Alessandra Elisa Sindi Morando, Jossué Cariño, Pedro Castillo, Roberto Sacile, Enrico Zero

Institutions: Université de Technologie de Compiègne, Centre National de la Recherche Scientifique, Heuristics and Diagnostics for Complex Systems, University of Genoa

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,010

OpenAlex ID: W7154620747

FWCI:

Cites: 10

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