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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.12390 |
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| _version_ | 1866908935468875776 |
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| author | Psomiadis, Evangelos Tsiotras, Panagiotis |
| author_facet | Psomiadis, Evangelos Tsiotras, Panagiotis |
| contents | This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce unnecessary control updates and conserve resources, we propose a distributed event-triggered formation controller. Unlike the well-studied linear formation control strategies, the proposed controller is nonlinear and relies on inter-agent distance measurements. Control updates are triggered only when the measurement error exceeds a predefined threshold, ensuring system stability while minimizing actuation effort. We also employ a distributed control barrier function to guarantee inter-agent collision avoidance. The proposed controller is validated through extensive simulations and real-world experiments involving different formations, communication topologies, scalability tests, and variations in design parameters, while also being compared against periodic triggering strategies. Results demonstrate that the event-triggered approach significantly reduces control effort while preserving formation performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_12390 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems Psomiadis, Evangelos Tsiotras, Panagiotis Robotics This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce unnecessary control updates and conserve resources, we propose a distributed event-triggered formation controller. Unlike the well-studied linear formation control strategies, the proposed controller is nonlinear and relies on inter-agent distance measurements. Control updates are triggered only when the measurement error exceeds a predefined threshold, ensuring system stability while minimizing actuation effort. We also employ a distributed control barrier function to guarantee inter-agent collision avoidance. The proposed controller is validated through extensive simulations and real-world experiments involving different formations, communication topologies, scalability tests, and variations in design parameters, while also being compared against periodic triggering strategies. Results demonstrate that the event-triggered approach significantly reduces control effort while preserving formation performance. |
| title | Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.12390 |