Related papers: Cooperative Robot Control and Concurrent Synchroni…
This paper studies the stability and convergence properties of a class of multi-agent concurrent learning (CL) algorithms with momentum and restart. Such algorithms can be integrated as part of the estimation pipelines of data-enabled…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
A synchronization mechanism driven by annealed noise is studied for two replicas of a coupled-map lattice which exhibits stable chaos (SC), i.e. irregular behavior despite a negative Lyapunov spectrum. We show that the observed…
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
A general scheme is proposed and tested to control the symmetry breaking instability of a homogeneous solution of a spatially extended multispecies model, defined on a network. The inherent discreteness of the space makes it possible to act…
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…
Finding conditions that support synchronization is a fertile and active area of research with applications across multiple disciplines. Here we present and analyze a scheme for synchronizing chaotic dynamical systems by transiently…
This study presents a synchronisation-oriented perspective towards adaptive control which views model-referenced adaptation as synchronisation between actual and virtual dynamic systems. In the context of adaptation, model reference…
Coupled map lattices are paradigmatic models of many collective phenomena. However, quite different patterns can emerge depending on the updating scheme. While in early versions, maps were updated synchronously, there has been in recent…
This paper addresses the problem of distributed coordination control for multi-robot systems (MRSs) in the presence of localization uncertainty using a Linear Quadratic Gaussian (LQG) approach. We introduce a stochastic LQG control strategy…
In this paper, we utilize event-triggered coupling configuration to realize synchronization of linearly coupled dynamical systems. Here, the diffusion couplings are set up from the latest observations of the nodes of its neighborhood and…
Synchronization is one of the paradigmatic phenomena in the study of complex systems. It has been explored theoretically and experimentally mostly to understand natural phenomena, but also in view of technological applications. Although…
We study general random dynamical systems of continuous maps on some compact metric space. Assuming a local contraction condition and uniqueness of the stationary measure, we establish probabilistic limit laws such as the central limit…
Synchronization phenomena are pervasive in biology. In neuronal networks, the mechanisms of synchronization have been extensively studied from both physiological and computational viewpoints. The functional role of synchronization has also…
Synchronization is a phenomenon where interacting particles lock their motion and display non-trivial dynamics. Despite intense efforts studying synchronization in systems without clear classical limits, no comprehensive theory has been…
We suggest an adaptive control scheme for the control of zero-lag and cluster synchronization in delay-coupled networks. Based on the speed-gradient method, our scheme adapts the topology of a network such that the target state is realized.…
We analyze the collective behavior of a lattice model of pulse-coupled oscillators. By means of computer simulations we find the relation between the intrinsic dynamics of each member of the population and their mutual interaction that…