Related papers: Cooperative Robot Control and Concurrent Synchroni…
Many natural and human-made complex systems feature group interactions that adapt over time in response to their dynamic states. However, most of the existing adaptive network models fall short of capturing these group dynamics, as they…
We study a network of coupled logistic maps whose interactions occur with a certain distribution of delay times. The local dynamics is chaotic in the absence of coupling and thus the network is a paradigm of a complex system. There are two…
We introduce and study systems of randomly coupled maps (RCM) where the relevant parameter is the degree of connectivity in the system. Global (almost-) synchronized states are found (equivalent to the synchronization observed in globally…
With the advent of inexpensive simple humanoid robots, new classes of robotic questions can be considered experimentally. One of these is collective behavior of groups of humanoid robots, and in particular robot synchronization and…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
We consider synchronization of coupled dynamical systems when different types of interactions are simultaneously present. We assume that a set of dynamical systems are coupled through the connections of two or more distinct networks (each…
A decentralized control system with linear dynamics, quadratic cost, and Gaussian disturbances is considered. The system consists of a finite number of subsystems whose dynamics and per-step cost function are coupled through their…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
We study the synchronization properties of a generic networked dynamical system, and show that, under a suitable approximation, the transition to synchronization can be predicted with the only help of eigenvalues and eigenvectors of the…
A unified approach for analyzing synchronization in coupled systems of autonomous differential equations is presented in this work. Through a careful analysis of the variational equation of the coupled system we establish a sufficient…
We introduce a class of concurrent learning (CL) algorithms designed to solve parameter estimation problems with convergence rates ranging from hyperexponential to prescribed-time while utilizing alternating datasets during the learning…
For a class of coupled limit cycle oscillators, we give a condition on a linear coupling operator that is necessary and sufficient for exponential stability of the synchronous solution. We show that with certain modifications our method of…
The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a…
Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
We study systems of identical coupled oscillators introducing a distribution of delay times in the coupling. For arbitrary network topologies, we show that the frequency and stability of the fully synchronized states depend only on the mean…