Related papers: Coordination Control of Discrete-Event Systems Rev…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control,…
In the context of networked discrete-event systems (DESs), communication delays and losses exist between the plant and the supervisor for observation and between the supervisor and the actuator for control. In this paper, we first introduce…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
In this paper, we investigate the problem of designing event-triggered controllers for containing epidemic processes in complex networks. We focus on a deterministic susceptible-infected-susceptible (SIS) model, which is one of the…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
In this paper, we model an operational planning and scheduling problem under multiple job deadlines in a time-weighted automaton framework. We first present a method to determine whether all given job specifications and deadlines can be met…
This paper considers the problem of minimal control inputs to affect the system states such that the resulting system is structurally controllable. This problem and the dual problem of minimal observability are claimed to have no…
This paper studies integral-type event-triggered model predictive control (MPC) of continuous-time nonlinear systems. An integral-type event-triggered mechanism is proposed by incorporating the integral of errors between the actual and…
From a mathematical point of view self-organization can be described as patterns to which certain dynamical systems modeling social dynamics tend spontaneously to be attracted. In this paper we explore situations beyond self-organization,…
This paper addresses the limitations of a single agent in task decomposition and collaboration during complex task execution, and proposes a multi-agent architecture for modular task decomposition and dynamic collaboration based on large…
Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model…
In decentralized network control, communication plays a critical role by transforming local observations into shared knowledge, enabling agents to coordinate their actions. This paper investigates how communication facilitates cooperation…
Conventional supervisory control theory assumes full synchronization between the supervisor and the plant. This assumption is violated in a networked-based communication setting due to the presence of delays, and this may result in…
New advances in large scale distributed systems have amazingly offered complex functionalities through parallelism of simple and rudimentary components. The key issue in cooperative control of multi-agent systems is the synthesis of local…
We present a framework for model-free learning of event-triggered control strategies. Event-triggered methods aim to achieve high control performance while only closing the feedback loop when needed. This enables resource savings, e.g.,…
In this paper, we address the problem of closed-loop control of nonlinear dynamical systems subjected to probabilistic uncertainties. More precisely, we design time-varying polynomial feedback controllers to follow the given nominal…
Distributed optimization requires nodes to coordinate, yet full synchronization scales poorly. When $n$ nodes collaborate through $m$ pairwise regularizers, standard methods demand $\mathcal{O}(m)$ communications per iteration. This paper…
Discrete event systems (DES) have been deeply developed and applied in practice, but state complexity in DES still is an important problem to be better solved with innovative methods. With the development of quantum computing and quantum…
A supervisory controller controls and coordinates the behavior of different components of a complex machine by observing their discrete behaviour. Supervisory control theory studies automated synthesis of controller models, known as…