Related papers: Cooperative Robot Control and Concurrent Synchroni…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
The first-order optimality conditions for a generic nonlinear optimization problem are generated as part of the terminal transversality conditions of an optimal control problem. It is shown that the Lagrangian of the optimization problem is…
Synchronization control in arrays of identical output-coupled continuous-time linear systems is studied. Sufficiency of new conditions for the existence of a synchronizing feedback law are analyzed. It is shown that for neutrally stable…
An oscillatory system can have clockwise and anticlockwise senses of rotation. We propose a general rule how to obtain counter-rotating oscillators from the definition of a dynamical system and then investigate synchronization. A type of…
We obviate the use of observers for the purpose of output feedback tracking control of Lagrangian systems and solve some long-standing yet well-documented open problems. As often implemented in control practice, we replace unavailable…
This paper describes a system for supporting coarse-grained location-based synchronisation. This type of synchronisation may occur when people need only some awareness about the location of others within the specific context of an on-going…
We consider synchronization of chaotic systems coupled indirectly through a common environmnet where the environment has an intrinsic dynmics of its own modulated via feedback from the systems. We find that a rich vareity of synchronization…
In large groups, every collaborative act requires balancing two pressures: the need to achieve behavioural synchrony and the need to keep free riding to a minimum. This paper introduces a model of collaboration that requires both…
Two replicas of spatially extended chaotic systems synchronize to a common spatio-temporal chaotic state when coupled above a critical strength. As a prototype of each single spatio-temporal chaotic system a lattice of maps interacting via…
We study synchronisation properties of networks of coupled dynamical systems with interaction akin to diffusion. We assume that the isolated node dynamics possesses a forward invariant set on which it has a bounded Jacobian, then we…
Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…
Output feedback controlled synchronization problems for a class of nonlinear unstable systems under information constraints imposed by limited capacity of the communication channel are analyzed. A binary time-varying coder-decoder scheme is…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
In this paper, we introduce a nonlinear time-varying coupling law, which can be designed in a fully decentralized manner and achieves approximate synchronization with arbitrary precision, under only mild assumptions on the individual vector…
This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often…
In this paper we propose a decentralized sensor network scheme capable to reach a globally optimum maximum likelihood (ML) estimate through self-synchronization of nonlinearly coupled dynamical systems. Each node of the network is composed…
Numerical problems are considered on general synchronization of chaotic oscillators, through the evaluation of the Lower Bound Error index on two case studies: a Lorenz system unidirectionally coupled to a Duffing system and a Duffing…
This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure…
This paper proposes a formal model for a network of robotic agents that move and communicate. Building on concepts from distributed computation, robotics and control theory, we define notions of robotic network, control and communication…