arXiv subjects

S. Saharsh

Publications and source records attributed to S. Saharsh.

3 recordsLinked to original sources

arXiv2026

Rigidity-Aware Formation Tracking under Sensing Range Constraints via Single Control Barrier Function Constraint

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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arXiv2026

From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing

Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limited sensing ranges, without assuming an initial rigid graph. In addition, the proposed approach guarantees the realization of a rigid graph for heterogeneous nonlinear multi robot systems. A computationally lean, distributed quadratic optimization-based controller is developed for a leader follower architecture, acquiring rigidity based on hierarchical second-order consensus among robots. Follower agents do not require global absolute positions of any agent, including their own. The proposed method is validated through both simulations and hardware experiments in a motion-capture environment, demonstrating reliable performance under the limited sensing capabilities of individual robots.

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arXiv2026

Control Barrier Function only Formation Tracking in Multi-Agent Systems

This paper presents a real-time control framework for formation tracking of heterogeneous multi-agent systems with non-linear dynamics. The proposed method formulates a single Control Barrier Function-like constraint within a quadratic optimization setting that addresses formation tracking. Relying on the relative information of neighboring agents, the controller is designed to operate without the need for manual parameter tuning or a separate nominal formation controller. The leader-follower framework is validated through simulations of moving formations.

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