Fault-resilient continuum deformation coordination

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This article offers a physics-based automation with two operation modes: 1) homogeneous deformation mode (HDM) and 2) containment exclusion mode (CEM), to safely plan a large-scale group coordination and resiliently recover safety in the presence of unpredicted agent failures. HDM becomes active when all agents are healthy, where the group coordination is defined by homogeneous transformation coordination functions. At HDM, a desired n-D homogeneous transformation (n=2,3) is uniquely related to the desired trajectories of n+1 leaders and acquired by the remaining followers in real-time through local communication. At CEM, agent coordination is treated as an ideal fluid flow, where the desired agents' paths are defined along stream lines inspired by fluid flow field theory to circumvent exclusion spaces surrounding failed agent(s). This article formally specifies the transitions between the HDM and CEM by using local proximity and applying the continuum deformation properties. More specifically, local proximity is used by agents to define interagent communication in an unsupervised fashion once they recover safety and HDM is activated. On the other hand, properties of homogeneous transformation are applied to quickly detect each arising anomalous situation and exclude failed agent(s) from group coordination of healthy agents.

Original languageEnglish (US)
Article number9210189
Pages (from-to)423-436
Number of pages14
JournalIEEE Transactions on Control of Network Systems
Issue number1
StatePublished - Mar 2021
Externally publishedYes


  • Continuum deformation
  • decentralized control
  • local communication
  • physics-based methods
  • resilient multiagent coordination

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Control and Optimization


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