Related papers: Control limitations from distributed sensing: theo…
We study performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of how the performance of distributed integral control is affected by measurement noise. We…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
In this paper, we utilize information theory to study the fundamental performance limitations of generic feedback systems, where both the controller and the plant may be any causal functions/mappings while the disturbance can be with any…
We study fundamental performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of whether dynamic feedback controllers perform better than static (memoryless)…
A distributed inference scheme which uses bounded transmission functions over a Gaussian multiple access channel is considered. When the sensor measurements are decreasingly reliable as a function of the sensor index, the conditions on the…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
Distributed estimation based on measurements from multiple wireless sensors is investigated. It is assumed that a group of sensors observe the same quantity in independent additive observation noises with possibly different variances. The…
A simple feedback control algorithm is presented for distributed beamforming in a wireless network. A network of wireless sensors that seek to cooperatively transmit a common message signal to a Base Station (BS) is considered. In this…
The problem of decentralized detection in a sensor network subjected to a total average power constraint and all nodes sharing a common bandwidth is investigated. The bandwidth constraint is taken into account by assuming non-orthogonal…
The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
Feedback optimisation is an emerging technique aiming at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove…
The control and integration of distributed, multi-sensor perceptual systems is a complex and challenging problem. The observations or opinions of different sensors are often disparate incomparable and are usually only partial views. Sensor…
This work considers distributed sensing and transmission of sporadic random samples. Lower bounds are derived for the reconstruction error of a single normally or uniformly-distributed finite-dimensional vector imperfectly measured by a…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
The idea of controlling the dynamics of spatially extended systems using a small number of localized perturbations is very appealing - such a setup is easy to implement in practice. However, when the distance between controllers generating…