Swarm Systems Lab - Publications

Journal papers

[J22] J. Chen, B. Jayawardhana, HG de Marina. Distributed Distance-based Formation-Motion Control of Unicycle Agents without Orientation Measurements. Transactions on Control of Network Systems. 2024.

[J21] J. Chen, B. Jayawardhana, HG de Marina. Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only. IEEE Transactions on Automatic Control. 2024.

[J20] W. Yao, HG de Marina, Z. Sun, M. Cao. Guiding vector fields for the distributed motion coordination of mobile robots. IEEE Transactions on Robotics, 39 (2), 1119-1135. 2023.

[J19] H. Wu, B. Jayawardhana, H.G. de Marina, D. Xu. Distributed formation control for manipulator end-effectors. IEEE Transactions on Automatic Control, 68 (9), 5413-5428. 2023.

[J18] L. Chen; Z. Lin, HG de Marina, Z. Sun, F. Mir. Maneuvering Angle Rigid Formations with Global Convergence Guarantee. IEEE/CAA Journal of Automatica Sinica, 9 (8), 1464–1475. 2022.

[J17] L. Chen, M. Shi, HG de Marina, M. Cao. Stabilizing and maneuvering angle rigid multi-agent formations with double-integrator agent dynamics. IEEE Transactions on Control of Network Systems, 9 (3), 1362-1374. 2022.

[J16] N Chan, B Jayawardhana, HG de Marina. Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: The Three Robot Case. IEEE Transactions on Automatic Control, 67 (8), 4285 - 4292. 2022.

[J15] L Colombo, HG de Marina. Forced Variational Integrators for the Formation Control of Multi-Agent Systems. IEEE Transactions on Control of Network Systems, 8(3), 1336-1347, 2021.

[J14] W.Yao, HG de Marina, B Lin, M.Cao. Singularity-free Guiding Vector Field for Robot Navigation. IEEE Transactions on Robotics, 37 (4), 1206-1221. 2021.

[J13] L Chen, M Cao, HG de Marina. Maneuvering formations of mobile agents using designed mismatched angles. IEEE Transactions on Automatic Control, 67 (4), 1655-1668, 2021.

[J12] HG de Marina. Distributed formation maneuver control by manipulating the complex Laplacian. Automatica, 132, 2021.

[J11] Z Sun, HG de Marina, BDO Anderson, C. Yu. Collaborative target-tracking control using multiple autonomous fixed-wing UAVs with constant speeds. AIAA Journal of Guidance, Control, and Dynamics. 44(2), 238–250. 2021.

[J10] HG de Marina. Maneuvering and robustness issues in undirected displacement-consensus-based formation control. IEEE Transactions on Automatic Control, 66 (7), 3370-3377. 2021.

[J9] N Chan, B Jayawardhana, HG de Marina. Angle-Constrained Formation Control for Circular Mobile Robots. IEEE Control Systems Letters, 5 (1), 109-114. 2021.

[J8] Z Sun, HG de Marina, G Seyboth, BDO Anderson, C Yu. Circular formation control of multiple unicycle-type agents with non-identical constant speeds. IEEE Transactions on Control Systems and Technology, 27 (1), 192-205. 2019.

[J7] Q Yang, M Cao, HG de Marina, H Fang, J Chen. Distributed formation tracking using local coordinate systems. Systems & Control Letters. 111, 70–78. 2018.

[J6] Z Sun, HG de Marina, BDO Anderson, M Cao. Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements. International Journal of Robust and Nonlinear Control, 28 (16), 4865-4884. 2018.

[J5] HG de Marina, B Jayawardhana, M Cao. Taming Mismatches in Inter-agent Distances for the Formation-Motion Control of Second-Order Agents. IEEE Transactions on Automatic Control, 63 (2), 449-462. 2018.

[J4] HG de Marina, B Jayawardhana, M Cao. Distributed Rotational and Translational Maneuvering of Rigid Formations and Their Applications. IEEE Transactions on Robotics, 32 (3), 684-696. 2016.

[J3] HG de Marina, M Cao, B Jayawardhana. Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements. IEEE Transactions on Robotics 31 (1), 31-39. 2015.

[J2] HG de Marina, F Espinosa, C Santos. Adaptive UAV attitude estimation employing unscented kalman filter, FOAM and low-cost MEMS sensors. Sensors 12 (7), 9566-9585. 2012.

[J1] HG de Marina, FJ Pereda, JM Giron-Sierra, F Espinosa. UAV attitude estimation using unscented Kalman filter and TRIAD. IEEE Transactions on Industrial Electronics 59 (11), 4465-4474. 2012.

Conference Papers

[C37] Y. Lu, S. Luo, P. Zhu, W. Yao, HG de Marina, X. Zhang, and X. Xu. Distributed Versatile Maneuvering with Generalized Formations Using Guiding Vector Fields. To appear in the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2025.

[C36] Y. Zhou, J. Bautista, W. Yao, and HG de Marina. Inverse Kinematics on Guiding Vector Fields for Robot Path Following. To appear in the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2025.

[C35] A. Acuaviva, J. Bautista, W. Yao, J. Jiménez, HG de Marina. Resilient source seeking with robot swarms. In the proceedings of the 63rd IEEE Conference on Decision and Control (CDC) 2024.

[C34] J Bautista, HG de Marina. Behavioral-based circular formation control for robot swarms. In the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2024.

[C33] J. Chen, B. Jayawardhana, HG de Marina. Distance-based Formation-Motion Control for Unicycle Agents. In the proceedings of the American Control Conference (ACC) 2023.

[C32] A. Seewald, HG de Marina, H. Skov, U. Pagh. Energy-Aware Planning-Scheduling for Autonomous Aerial Robots. In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022.

[C31] HG de Marina, J Jimenez, W Yao. Leaderless collective motions in affine formation control. In the proceedings of the 60th IEEE Conference on Decision and Control (CDC) 2021.

[C30] Haiwen Wu, Bayu Jayawardhana, HG de Marina, Dabo Xu. Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection. In the proceedings of the 60th IEEE Conference on Decision and Control (CDC) 2021.

[C29] W Yao, HG de Marina, Z Sun, M Cao. Distributed coordinated path following using guiding vector fields . In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2021. Nominated for Best Paper Award! Top 4 among 1946 accepted works out of 4005 submissions!

[C28] W Yao, HG de Marina, M Cao. Mobile Robot Path Following Control in 2D Using a 3D Guiding Vector Field: Singularity Elimination and Global Convergence. In the proceedings 59th IEEE Conference on Decision and Control (CDC) 2020.

[C27] L Colombo, P Moreno, M Ye, HG de Marina, M Cao. Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems. In the proceedings 21st IFAC World Congress 2020.

[C26] L Colombo, HG de Marina, M Barbero, D Martin de Diego. On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control. In the proceedings 58th IEEE Conference on Decision and Control (CDC) 2019.

[C25] L Chen, M Cao, HG de Marina, B Jayawardhana, C Li. Triangular formation maneuver using designed mismatched angles. In the proceedings IEEE European Control Conference (ECC) 2019.

[C24] HG de Marina, E Smeur. Flexible collaborative transportation by a team of rotorcraft. In the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2019.

[C23] HG de Marina, Z Sun, S Mou. On the stability and applications of distance-based flexible formations. 57th IEEE Conference on Decision and Control (CDC) 2018.

[C22] HG de Marina, J Siemonsma, B Jayawardhana, M Cao. Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation. 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) 2018. Nominated for Best Paper Award! Top 5 among 300+ accepted works.

[C21] L Colombo, HG de Marina. A Variational Integrator for the distance-based formation control of multi-agent systems. 7th IFAC Workshop on Distributed and Control in Networked Systems 2018.

[C20] M Bronz, E Smeur, HG de Marina, G Hattenberger. Development of A Fixed-Wing mini UAV with Transitioning Flight Capability. 35th AIAA Applied Aerodynamics Conference 2017.

[C19] Rafael Bailon-Ruiz, Christophe Reymann, Simon Lacroix, Gautier Hattenberger, HG de Marina, Fayçal Lamraoui. System simulation of a fleet of drones to probe cumulus clouds. International Conference on Unmanned Aircraft Systems 2017.

[C18] HG de Marina, Z Sun, M Bronz, G Hattenberger. Circular formation control of fixed-wing UAVs with constant speeds. In proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2017.

[C17] M Bronz, HG de Marina, G Hattenberger In-Flight Thrust Measurement using On-Board Force Sensor. AIAA Atmospheric Flight Mechanics Conference 2017.

[C16] Y Kapitanyuk, HG de Marina, A Proskurnikov, M Cao. Guiding Vector Field Algorithm for a Moving Path Following Problem. In proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.

[C15] HG de Marina, B Jayawardhana, M Cao. Distributed algorithm for controlling scale-free polygonal formations. In proceedings on the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.

[C14] HG de Marina, Z. Sun, M. Cao, and B. D. O. Anderson. Controlling a triangular flexible formation of autonomous agents. In proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.

[C13] HG de Marina, YA Kapitanyuk, M Bronz, G Hattenberger, M Cao. Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows. In proceedings IEEE International Conference on Robotics and Automation (ICRA) 2017.

[C12] HG de Marina, B Jayawardhana, M Cao. Disitrubted scaling control for rigid formations. In proceedings IEEE 55th Conference on Decision and Control (CDC) 5140 – 5145. 2016.

[C11] HG de Marina, B Jayawardhana, M Cao. On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents. IFAC-PapersOnLine 49 (18), 398-403 (NOLCOS) 2016.

[C10] Z. Sun, HG de Marina, B. D. O. Anderson, and M. Cao. Quantization effects in rigid formation control. 6th Australian Control Conference (AUCC’16), Newcastle, Australia, 2016.

[C9] H Liu, HG de Marina, M Cao. Controlling triangular formations of autonomous agents in finite time using coarse measurements. IEEE International Conference on Robotics and Automation (ICRA), 3601-3606. 2014.

[C8] HG de Marina, M Cao, B Jayawardhana. Controlling Formation of Autonomous Agents with Distance Disagreements. Estimation and Control of Networked Systems (NECSYS) 4 (1), 411-416. 2013.

[C7] A Marcos, HG De Marina, V Mantini, C Roux, S Bennani. Optimization-based worst-case analysis of a launcher during the atmospheric ascent phase. AIAA Guidance, Navigation, and Control Conference and Exhibit. 2013.

[C6] HG de Marina, A Marcos, R Haya. Angle of Attack and True Airspeed failure sensor detection and recovery based on Unscented Kalman Filters for the ALPHA vehicle. Fault Detection, Supervision and Safety of Technical Processes 8 (1), 1197-1202. 2012.

[C5] FJ Pereda, HG de Marina, JM Giron-Sierra, J Jimenez. Towards automatic oil spill confinement with autonomous marine surface vehicles. OCEANS IEEE-Spain. 2011.

[C4] JM Giron-Sierra, F Pereda, HG de Marina, S Cifuentes. Developing an Autonomous Surface Ship for Sea Demining. IFAC Proceedings Volumes 43 (20), 91-96. 2010.

[C3] HG de Marina, FJ Pereda, JM Girón-Sierra. Path planning combined with fuzzy control for autonomous ships. IEEE International Conference on Computational Intelligence for Measurement Systems and Applications. 2010.

[C2] FJ Pereda, HG de Marina, JF Jiménez, JM Giron-Sierra. Sea demining with autonomous marine surface vehicles. IEEE Safety Security and Rescue Robotics. 2010.

[C1] FJ Pereda, HG de Marina, JF Jiménez, JM Giron-Sierra. A development project of autonomous marine surface vehicles for sea demining. 11th International Conference on Control Automation Robotics&Vision. 2010.

In arXiv

[U1] N Chan, B Jayawardhana, HG de Marina. Securing Isosceles Triangular Formations under Heterogeneous Sensing and Mixed Constraints

[U2] J. Bautista, HG de Marina. SO(3) attitude controllers and the alignment of robots with non-constant 3D vector fields.