Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Position and Orientation Based Formation Control of Multiple Rigid
  Bodies with Collision Avoidance and Connectivity Maintenance   This paper addresses the problem of position- and orientation-based formation
control of a class of second-order nonlinear multi-agent systems in a $3$D
workspace with obstacles. More specifically, we design a decentralized control
protocol such that each agent achieves a predefined geometric formation with
its initial neighbors, while using local information based on a limited sensing
radius. The latter implies that the proposed scheme guarantees that the
initially connected agents remain always connected. In addition, by introducing
certain distance constraints, we guarantee inter-agent collision avoidance as
well as collision avoidance with the obstacles and the boundary of the
workspace. The proposed controllers employ a novel class of potential functions
and do not require a priori knowledge of the dynamical model, except for
gravity-related terms. Finally, simulation results verify the validity of the
proposed framework.

9
The categories of this paper are: nlin
23
The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
14
The categories of this paper are: math-ph
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
30
The categories of this paper are: q-alg
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
35
The categories of this paper are: mtrl-th
19
The categories of this paper are: eess
17
The categories of this paper are: q-fin
6
The categories of this paper are: astro-ph
26
The categories of this paper are: bayes-an
18
The categories of this paper are: econ