Related papers: Cooperative Robot Control and Concurrent Synchroni…
Motivated by large-scale optimization problems arising in the context of machine learning, there have been several advances in the study of asynchronous parallel and distributed optimization methods during the past decade. Asynchronous…
We analyze networked heterogeneous nonlinear systems, with diffusive coupling and interconnected over a generic static directed graph. Due to the network's hetereogeneity, complete synchronization is impossible, in general, but an emergent…
This paper investigates synchronization phenomena in networks of coupled oscillators governed by three-time-scale dynamical systems exhibiting canard dynamics. A mathematical framework has been developed to analyze the synchronization of…
We introduce a novel concept of generalized synchronization, able to encompass the setting of collective synchronized behavior for mutually coupled systems and networking systems featuring complex topologies in their connections. The onset…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
The task of implementing a supervisory controller is non-trivial, even though different theories exist that allow automatic synthesis of these controllers in the form of automata. One of the reasons for this discord is due to the…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
Synchronization of fractional-order chaotic systems is a hot topic in the field of nonlinear study. The co-coupled synchronization between two fractional-order chaotic systems with different initial conditions is investigated in this paper.…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
The universal mechanism resulting in the generalized synchronization regime arising in the chaotic oscillators with the dissipative coupling has been described. The reasons of the generalized synchronization occurrence may be clarified by…
The multi-objective coverage control problem requires a robot swarm to collaboratively provide sensor coverage to multiple heterogeneous importance density fields IDFs simultaneously. We pose this as an optimization problem with constraints…
Adaptive controllers are designed to synchronize two different chaotic systems with uncertainties, including unknown parameters, internal and external perturbations. Lyapunov stability theory is applied to prove that under some conditions…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Generalized synchronization (GS) describes a state in which two coupled dynamical systems exhibit a functional relationship between their variables. GS can be achieved by appropriately designing the coupling to constrain the dynamics onto…
Systems such as sensor networks and teams of autonomous robots consist of multiple autonomous entities that interact with each other in a distributed, asynchronous manner. These entities need to keep track of the state of the system as it…
Synchrony is one of the most common dynamical states emerging on networks. The speed of convergence towards synchrony provides a fundamental collective time scale for synchronizing systems. Here we study the asymptotic synchronization times…
High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics only. In this paper, we develop a data-driven control law that…
Often adaptive, distributed control can be viewed as an iterated game between independent players. The coupling between the players' mixed strategies, arising as the system evolves from one instant to the next, is determined by the system…
We consider complete synchronization of identical maps coupled through a general interaction function and in a general network topology where the edges may be directed and may carry both positive and negative weights. We define mixed…