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This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
Traffic models based on cellular automata have high computational efficiency because of their simplicity in describing unrealistic vehicular behavior and the versatility of cellular automata to be implemented on parallel processing. On the…
This paper proposes a novel approach to improve the performance of distributed nonlinear control systems while preserving stability by leveraging Deep Neural Networks (DNNs). We build upon the Neural System Level Synthesis (Neur-SLS)…
Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…
In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
Program verification is a resource-hungry task. This paper looks at the problem of parallelizing SMT-based automated program verification, specifically bounded model-checking, so that it can be distributed and executed on a cluster of…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Motivated by the development and deployment of large-scale dynamical systems, often composed of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. In this work…
We propose a two dimensional probabilistic cellular automata for the description of traffic flow in a small city network composed of two intersections. The traffic in the network is controlled by a set of traffic lights which can be…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…
In transportation systems (e.g. highways, railways, airports), traffic flows with distinct origin-destination pairs usually share common facilities and interact extensively. Such interaction is typically stochastic due to natural…
This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…