Safety-Critical Formation Control of Non-Holonomic Multi-Robot Systems in Communication-Limited Environments

Author(s) Information

Logan Beard, California Polytechnic State University, San Luis ObispoFollow

College - Author 1

College of Engineering

Department - Author 1

Electrical Engineering Department

Advisor

Siavash Farzan

Funding Source

This work was supported by the Lockheed Martin Endowed Professorship.

Acknowledgements

We thank Kelvin Villagofor the controller formulation

Date

10-2025

Abstract/Summary

This project explores advanced methodologies for distributed planning, formation control, and coordination in heterogenous multi-agent robotic systems consisting of small mobile robots and nano unmanned aerial vehicles (UAVs). Leveraging decentralized control theories and optimization techniques, the research aims to develop robust algorithms for real-time collaborative task execution, efficient formation maintenance, and adaptive coordination strategies. Python and ROS will be used extensively to simulate, validate, and experimentally deploy distributed robotics algorithms. The student researcher significantly contributes to the theoretical and practical advancement of multi-agent system technologies.

October 1, 2025.