List of English Publication

@article{nokey,

title = {Maintaining and steering a formation in an unknown dynamic environment via a consistent distributed dynamic map},

author = {Miao Guo and Bayu Jayawardhana and Jin Gyu Lee and Hyungbo Shim},

doi = {/10.1002/rnc.7414},

issn = { 1049-8923},

year  = {2024},

date = {2024-05-22},

urldate = {2024-05-22},

journal = {International Journal of Robust and Nonlinear Control},

volume = {34},

issue = {13},

pages = {8785-8801},

abstract = {In this paper, we study the problem of maintaining a stable mobile robot formation, steering and localizing all robots in an unknown dynamic environment consisting of multiple periodically moving objects, without the presence of a global positioning system or a robot tracking system. We propose a distributed observer such that each agent can estimate global positions of all mobile robots and that of moving landmarks in an unknown environment. By combining the proposed distributed observer with the distributed formation control and centroid tracking control law, we show that the formation shape can be maintained by utilizing its available relative measurements and the estimated relative measurements to its neighbors, and the group's centroid follows a desired trajectory. We present 

 stability analysis of the closed-loop system. Finally, we validate the proposed methods in a simulation result where a group of mobile robots can maintain a robust formation and maneuver in an unknown dynamic environment.},

keywords = {Formation control, Localization, simultaneous localization and mapping},

pubstate = {published},

tppubtype = {article}

}

@article{nokey,

title = {Node-Wise Monotone Barrier Coupling Law for Formation Control},

author = {Jin Gyu Lee and Cyrus Mostajeran and Graham Van Goffrier},

url = {https://www.mdpi.com/1099-4300/26/2/134},

doi = {https://doi.org/10.3390/e26020134},

issn = {1099-4300},

year  = {2024},

date = {2024-01-31},

urldate = {2024-01-31},

journal = {Entropy},

volume = {26},

issue = {2},

pages = {134},

abstract = {We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law (1) allows us to assign multiple central patterns on the circle and (2) allows for rapid switching between different patterns via simple ‘kicks’. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning a unique steady-state behavior to each element of the resulting partition. We analyze the global behavior and study the viability of the design.},

keywords = {Consensus, Formation control, Nonlinear space, Positivity},

pubstate = {published},

tppubtype = {article}

}

@article{nokey,

title = {Simultaneous distributed localization, mapping and formation control of mobile robots based on local relative measurements},

author = {Miao Guo and Bayu Jayawardhana and Jin Gyu Lee and Hyungbo Shim},

url = {https://www.sciencedirect.com/science/article/pii/S2405896320331426},

doi = {https://doi.org/10.1016/j.ifacol.2020.12.2454.},

issn = {2405-8963},

year  = {2020},

date = {2020-07-11},

journal = {IFAC-PapersOnLine},

volume = {53},

issue = {2},

pages = {9614-9620},

abstract = {This paper investigates the problem of localizing a team of robots in an indoor environment while simultaneously keeping a robust formation and performing group motion. A distributed observer is proposed to estimate the positions of mobile robots as well as the landmarks under a common global frame. Every robot uses its available local relative measurements, as well as the estimated relative measurements to its neighbors in order to keep a robust formation. Simultaneously, each robot estimates the positions of all the landmarks based on the available on-board relative measurements but also based on the estimated positions from its neighbors. We provide the L2-stability analysis of the closed-loop system where the group is also allowed to maneuver in the unknown environment. Simulation results are also given to show the efficacy of the method.},

keywords = {Distributed algorithm, Formation control, Multi-agent systems},

pubstate = {published},

tppubtype = {article}

}