Robotics paper index
Rigidity-Aware Formation Tracking under Sensing Range Constraints via Single Control Barrier Function Constraint
One-line summary
A robotics research paper on Rigidity-Aware Formation Tracking under Sensing Range Constraints via Single Control Barrier Function Constraint.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
This paper presents a control framework for formation tracking and rigidity maintenance in heterogeneous multi-robot systems with nonlinear dynamics under sensing range constraints. Since formation tracking alone does not ensure rigidity maintenance with a limited sensing range, despite rigidity being a prerequisite for establishing and preserving a unique formation, our work integrates both objectives through a single Control Barrier Function (CBF)-like constraint within a quadratic optimization framework. The proposed distributed controller requires only local relative information from neighbors, as verified with simulation case studies.
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