Abstract:This paper addresses 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 controllers, the proposed controller is nonlinear and relies on inter-agent distance measurements. Control updates are triggered only when the measurement error exceeds a state-dependent threshold, ensuring system stability while reducing actuation effort. We also employ a distributed control barrier function to guarantee inter-agent collision avoidance. The proposed controller is validated through simulations and real-world experiments involving different communication topologies, scalability tests, and variations in design parameters, and is also compared to periodic triggering strategies. Results demonstrate that the event-triggered approach significantly reduces control effort while preserving formation performance.
From: Evangelos Psomiadis [view email]
[v1]
Mon, 15 Sep 2025 19:32:41 UTC (1,210 KB)
[v2]
Fri, 3 Apr 2026 20:55:44 UTC (993 KB)
[v3]
Wed, 16 Sep 2026 20:10:49 UTC (1,004 KB)
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