Distributed Non-Uniform Scaling Control of Multi-Agent Formation with Dynamic Agent Joining
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , |
|---|---|
| Format: | Preprint |
| Publié: |
2026
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866917542620037120 |
|---|---|
| author | He, Tao Jing, Gangshan |
| author_facet | He, Tao Jing, Gangshan |
| contents | Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing formation maneuver strategies, it typically assumes a fixed set of agents, limiting its applicability in scenarios requiring dynamic team expansion. This paper introduces a distributed control framework that enables a formation to incorporate new agents during non-uniform scaling maneuvers in arbitrary dimensions while preserving the spectral properties of the graph Laplacian. Simulation examples validate the effectiveness of the theoretical results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_29191 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Distributed Non-Uniform Scaling Control of Multi-Agent Formation with Dynamic Agent Joining He, Tao Jing, Gangshan Systems and Control Robotics Optimization and Control Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing formation maneuver strategies, it typically assumes a fixed set of agents, limiting its applicability in scenarios requiring dynamic team expansion. This paper introduces a distributed control framework that enables a formation to incorporate new agents during non-uniform scaling maneuvers in arbitrary dimensions while preserving the spectral properties of the graph Laplacian. Simulation examples validate the effectiveness of the theoretical results. |
| title | Distributed Non-Uniform Scaling Control of Multi-Agent Formation with Dynamic Agent Joining |
| topic | Systems and Control Robotics Optimization and Control |
| url | https://arxiv.org/abs/2605.29191 |