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We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
This paper addresses the problem of detecting possible intruders in a group of autonomous robots, which coexist in a shared environment and interact with each other according to a set of "social behaviors", or common rules. Such rules…
Autonomous navigation of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We…
We consider a parallel system of $m$ identical machines prone to unpredictable crashes and restarts, trying to cope with the continuous arrival of tasks to be executed. Tasks have different computational requirements (i.e., processing time…
Vehicles in developing countries have widely varying dimensions and speeds, and drivers tend to not follow lane discipline. In this flow state called "mixed traffic", the interactions between drivers and the resulting maneuvers resemble…
Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
We investigate the coordination and control problems of distributed discrete event systems that are composed of multiple subsystems subject to potential actuator and/or sensor faults. We model actuator faults as local controllability loss…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Event-triggered and self-triggered control have recently been proposed as implementation strategies that considerably reduce the resources required for control. Although most of the work so far has focused on closing a single control loop,…
In distributed model predictive control (DMPC), where a centralized optimization problem is solved in distributed fashion using dual decomposition, it is important to keep the number of iterations in the solution algorithm, i.e. the amount…
Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced search-and-rescue operations. A critical requirement of these…
In prioritized planning for vehicles, vehicles plan trajectories in parallel or in sequence. Parallel prioritized planning offers approximately consistent computation time regardless of the number of vehicles but struggles to guarantee…
We study the distributed optimization of transmit strategies in a multiple-input, single-output (MISO) interference channel (IFC). Existing distributed algorithms rely on stricly synchronized update steps by the individual users. They…
A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…
The idle computers on a local area, campus area, or even wide area network represent a significant computational resource---one that is, however, also unreliable, heterogeneous, and opportunistic. This type of resource has been used…