Related papers: Coordination in multiagent systems and Laplacian s…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
Control of large-scale networked systems often necessitates the availability of complex models for the interactions amongst the agents. However in many applications, building accurate models of agents or interactions amongst them might be…
Observational data usually comes with a multimodal nature, which means that it can be naturally represented by a multi-layer graph whose layers share the same set of vertices (users) with different edges (pairwise relationships). In this…
While spectral clustering algorithms for undirected graphs are well established and have been successfully applied to unsupervised machine learning problems ranging from image segmentation and genome sequencing to signal processing and…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…
This work develops a symmetry-based framework for formation control on cycle graphs using Dihedral point-group constraints. We show that enforcing inter-agent reflection symmetries, together with anchoring a single designated agent to its…
In this work, we present a distributed framework based on the graph algorithm for computing control invariant set for nonlinear cascade systems. The proposed algorithm exploits the structure of the interconnections within a process network.…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
The theory of graphons has proven to be a powerful tool in many areas of graph theory. In this paper, we introduce several foundational aspects of the theory of digraphons -- asymmetric two-variable functions that arise as limits of…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
For dendrite graphs from biological experiments on mouse's retinal ganglion cells, a paper by Nakatsukasa, Saito and Woei reveals a mysterious phase transition phenomenon in the spectra of the corresponding graph Laplacian matrices. While…
Conventional control of fluid systems does not consider system-wide knowledge for optimising energy efficient operation. Distributed control of fluid systems combines reliable local control of components while using system-wide cooperation…
Distributed algorithms have been playing an increasingly important role in many applications such as machine learning, signal processing, and control. Significant research efforts have been devoted to developing and analyzing new algorithms…
The matrices of spanning rooted forests are studied as a tool for analysing the structure of digraphs and measuring their characteristics. The problems of revealing the basis bicomponents, measuring vertex proximity, and ranking from…
Distributed control strategies applied to power distribution control problems are meant to offer robust and scalable integration of distributed energy resources. However, the term "distributed control" is often loosely applied to a variety…
We consider vertex decompositions of (di)graphs which appear in Automata Theory, and establish some their properties. Then we apply them to the problem of forbidden subgraphs.
In this paper we consider the distributed linear quadratic control problem for networks of agents with single integrator dynamics. We first establish a general formulation of the distributed LQ problem and show that the optimal control gain…
We provide an introductory review of some topics in spectral theory of Laplacians on metric graphs. We focus on three different aspects: the trace formula, the self-adjointness problem and connections between Laplacians on metric graphs and…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…