Related papers: Decentralized formation control with connectivity …
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Collision avoidance is one of the most primary requirement in the decentralized multiagent navigations: while the agents are moving towards their own targets, attentions should be paid to avoid the collisions with the others. In this paper,…
This paper investigates the design of decentralized output-feedback controllers for a class of a large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller…
In recent years, numerous studies have focused on the mathematical modeling of social dynamics, with self-organization, i.e., the autonomous pattern formation, as the main driving concept. Usually, first or second order models are employed…
This paper presents a new approach to distributed controller design that exploits a partial-structure representation of linear time invariant systems to characterize the structure of a system. This partial-structure representation, called…
This paper considers the stabilization of unknown switched linear systems using data. Instead of a full system model, we have access to a finite number of trajectories of each of the different modes prior to the online operation of the…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
The problem of decentralized sequential detection with conditionally independent observations is studied. The sensors form a star topology with a central node called fusion center as the hub. The sensors make noisy observations of a…
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be…
Inverter-dominated microgrids are quickly becoming a key building block of future power systems. They rely on centralized controllers that can provide reliability and resiliency in extreme events. Nonetheless, communication failures due to…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
State synchronisation in clustered Software Defined Networking controller deployments ensures that all instances of the controller have the same state information in order to provide redundancy. Current implementations of controllers use a…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
This paper is concerned with coherent quantum control design for translation invariant networks of identical quantum stochastic systems subjected to external quantum noise. The network is modelled as an open quantum harmonic oscillator and…
This paper considers the analysis and design of resilient/robust decentralized control systems. Specifically, we aim to assess how the pairing of sensors and actuators lead to architectures that are resilient to attacks/hacks for industrial…