Related papers: Cooperative Robot Control and Concurrent Synchroni…
We demonstrate the advantages of randomization in coherent quantum dynamical control. For systems which are either time-varying or require decoupling cycles involving a large number of operations, we find that simple randomized protocols…
This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we firstly study global synchronization of nonlinear systems in canonical control form with both distributed…
Learning in games has been widely used to solve many cooperative multi-agent problems such as coverage control, consensus, self-reconfiguration or vehicle-target assignment. One standard approach in this domain is to formulate the problem…
This work interprets and generalizes consensus-type algorithms as switching dynamics leading to symmetrization of some vector variables with respect to the actions of a finite group. We show how the symmetrization framework we develop…
This paper demonstrates the applicability of the combination of concurrent learning as a tool for parameter estimation and non-parametric Gaussian Process for online disturbance learning. A control law is developed by using both techniques…
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…
Symmetries are ubiquitous in network systems and have profound impacts on the observable dynamics. At the most fundamental level, many synchronization patterns are induced by underlying network symmetry, and a high degree of symmetry is…
This paper considers the cluster synchronization problem of generic linear dynamical systems whose system models are distinct in different clusters. These nonidentical linear models render control design and coupling conditions highly…
Synchronization has received a lot of attention from the scientific community for systems evolving on static networks or higher-order structures, such as hypergraphs and simplicial complexes. In many relevant real world applications, the…
In nature, instances of synchronisation abound across a diverse range of environments. In the quantum regime, however, synchronisation is typically observed by identifying an appropriate parameter regime in a specific system. In this work…
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
Controlling a robot based on physics-consistent dynamic models, such as Deep Lagrangian Networks (DeLaN), can improve the generalizability and interpretability of the resulting behavior. However, in complex environments, the number of…
A basic result in synchronization of linear systems via output coupling is presented. For identical discrete-time linear systems that are detectable from their outputs and neutrally stable, it is shown that a linear output feedback law…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…
We present and experimentally demonstrate a technique for achieving and maintaining a global state of identical synchrony of an arbitrary network of chaotic oscillators even when the coupling strengths are unknown and time-varying. At each…
Synchronization in networks with delayed coupling are ubiquitous in nature and play a key role in almost all fields of science including physics, biology, ecology, climatology and sociology. In general, the published works on network…
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…
The synchronization of coupled chaotic systems represents a fundamental example of self organization and collective behavior. This well-studied phenomenon is classically characterized in terms of macroscopic parameters, such as Lyapunov…