Related papers: Safe and Stabilizing Distributed Multi-Path Cellul…
Distributed computing excels at processing large scale data, but the communication cost for synchronizing the shared parameters may slow down the overall performance. Fortunately, the interactions between parameter and data in many problems…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
Control of wireless multihop networks, while simultaneously meeting end-to-end mean delay requirements of different flows is a challenging problem. Additionally, distributed computation of control parameters adds to the complexity. Using…
A coarse-grained cellular automaton is proposed to simulate traffic systems. There, cells represent road sections. A cell can be in two states: jammed or passable. Numerical calculations are performed for a piece of square lattice with open…
In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feasible set is forward invariant). For problems with separable…
Congestion in transport networks is a topic of theoretical interest and practical importance. In this paper we study the flow of vehicles in urban street networks. In particular, we use a cellular automata model to simulate the motion of…
A model for 1D traffic flow is developed, which is discrete in space and time. Like the cellular automaton model by Nagel and Schreckenberg [J. Phys. I France 2, 2221 (1992)], it is simple, fast, and can describe stop-and-go traffic. Due to…
In this work, we study protocols so that populations of distributed processes can construct networks. In order to highlight the basic principles of distributed network construction we keep the model minimal in all respects. In particular,…
The main steps of automatic control methodology include the hierarchical representation of management system and the formal definitions of input variables, object and goal of control of each management level. A Petri net model of individual…
Optimal transport is a powerful framework for the efficient allocation of resources between sources and targets. However, traditional models often struggle to scale effectively in the presence of large and heterogeneous populations. In this…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
In this paper, we design a stochastic Model Predictive Control (MPC) traffic signal control method for an urban traffic network when the uncertainties in the estimation of the exogenous (in/out)-flows and the turning ratios of downstream…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
We study, in this paper, the impact of imperfect small cell positioning with respect to traffic hotspots in cellular networks. In order to derive the throughput distribution in macro and small cells, we firstly perform static level analysis…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…