3 papers
eess.SY2026
Flatness-Based Geometric Path Following via Guiding Vector Fields
J. P. van Gool, H. G. de Marina, B. Jayawardhana +1
Path following requires an agent to converge to and traverse a geometric path without a prescribed timing law. Guiding vector fields (GVFs) address this directly, but as guidance l…
eess.SY2025
Dispersion Formation Control: from Geometry to Distribution
Jin Chen, Jesus Bautista Villar, Bayu Jayawardhana +1
We introduce and develop the concept of dispersion formation control, bridging a gap between shape-assembly studies in physics and biology and formation control theory. In current…
eess.SY2023
Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only
Jin Chen, Bayu Jayawardhana, Hector Garcia de Marina
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward.…