{
  "abstract": "Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by port-Hamiltonian dynamics. A foundational step involves constructing a signed incidence matrix, which, by design, corresponds to a directed acyclic graph and possesses the full column rank property. To overcome the prevalent issue of local minima in traditional artificial potential fields, a novel design utilizing attraction-only potentials is introduced, with collision avoidance rigorously enforced by safety barriers. This framework leads to a unified controller that concurrently manages velocity tracking, target formation acquisition, and inter-agent safety. The stability of the resulting closed-loop system is guaranteed through LaSalle's invariance principle. Numerical simulations demonstrate the validity and effectiveness of the proposed control strategy.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": "Journal reference: The 23rd IFAC World Congress, IFAC, Aug 2026, Busan, South Korea",
  "arxiv": "2605.18502",
  "author_total": 5,
  "authors": [
    {
      "name": "Jingyi Zhao"
    },
    {
      "name": "Yongxin Wu"
    },
    {
      "name": "Héctor García de Marina"
    },
    {
      "name": "Yuhu Wu"
    },
    {
      "name": "Yann Le Gorrec"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/cmfzw67z808wh.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2605.18502",
  "fulltext_url": null,
  "id": "cmfzw67z808wh",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2605.18502",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "1705|Distributed Control Multi-Agent Systems"
    ]
  ],
  "openalex": "W7161703888",
  "pdf_url": "https://arxiv.org/pdf/2605.18502",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-17",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/cmfzw67z808wh.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:22:23Z",
      "native_id": "2605.18502",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2605.18502"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "The distance-based formation controller design for multi-agent systems in port-Hamiltonian form",
  "title_text": "The distance-based formation controller design for multi-agent systems in port-Hamiltonian form",
  "type": "preprint",
  "updated_at": "2026-10-30T12:22:23Z",
  "url": "https://research.draconitic.com/paper/cmfzw67z808wh",
  "venue": "arXiv",
  "versions": []
}