9 papers
Embodied Opinion Dynamics for Safety-Critical Motion Control in Dynamic Environments
Zhiqi Tang, Yu Xing
This paper proposes a novel adaptive control framework that embeds nonlinear opinion dynamics within the dynamical sensorimotor layers of an automated vehicle governed by second-or…
Leader-Follower Formation Tracking Control of Quadrotor UAVs Using Bearing Measurements
S. Doodeman, Z. Tang, M. Jacinto +2
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor…
Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics
Lyes Smaili, Zhiqi Tang, Soulaimane Berkane +1
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (D…
Observer-Based Control of Second-Order Multi-vehicle Systems in Bearing-Persistently Exciting Formations
Zhiqi Tang, Baris Fidan, Karl H. Johansson +2
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global po…
Constructive barrier feedback for collision avoidance in leader-follower formation control
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy…
Formation control of a leader-follower structure in three dimensional space using bearing measurements
Zhiqi Tang, Rita Cunha, Tarek Hamel +1
This paper addresses the problem of bearing leader-follower formation control in three-dimensional space by exploring the persistence of excitation (PE) of the desired formation. U…