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    Area of Science:

    • Robotics and Control Systems
    • Distributed Systems Engineering
    • Networked Autonomous Systems

    Background:

    • Coordinated control of multiagent systems is challenging due to velocity and input constraints.
    • Ensuring collision avoidance and network connectivity simultaneously is critical for formation navigation.

    Purpose of the Study:

    • To develop a robust distributed formation navigation controller for second-order multiagent systems.
    • To address velocity, input, collision avoidance, and connectivity constraints within a unified framework.

    Main Methods:

    • Utilized control barrier functions (CBFs) to enforce multiple control objectives and constraints.
    • Proposed a nominal distributed leader-following formation controller handling switching communication graphs.
    • Introduced a topology-based connectivity maintenance strategy using a formation-guided minimum cost spanning tree.
    • Formulated a quadratic programming problem to integrate CBF-based constraints and modify the nominal controller.

    Main Results:

    • Demonstrated global convergence of the proposed controller using nonsmooth analysis.
    • Successfully integrated collision avoidance and connectivity maintenance using barrier function-based constraints.
    • Validated the controller's effectiveness through simulation results.

    Conclusions:

    • The proposed control strategy effectively achieves distributed formation navigation for multiagent systems.
    • The method simultaneously satisfies velocity, input, collision avoidance, and connectivity constraints.
    • Control barrier functions provide a powerful tool for addressing complex, multi-objective control problems in networked systems.