Terminal Sliding Mode Control for the Formation of a Team of Quadrotors and Mobile Robots
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Bibliographic record
Abstract
This paper proposes a fast terminal sliding mode control (SMC) method for the formation of heterogeneous multi-agent systems (MASs) with a fixed topology using a virtual leader. The MAS consists of quadrotors and two-wheeled mobile robots (2WMRs). Fast terminal SMC is used as a means of directing the agents in order to achieve consensus and formation in a two-dimensional environment. The stability analysis with the resultant system shows that the system is stable given an arbitrary number of agents. Simulation results are shown to demonstrate the effectiveness of the proposed control scheme for a team of three unmanned aerial vehicles (UAVs) and three unmanned ground vehicles (UGVs) in cases with and without disturbances. Experimental results are also provided to help validate the formation controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it