Related papers: Nonuniform Line Coverage from Noisy Scalar Measure…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
Distributed optimal control is known to be challenging and can become intractable even for linear-quadratic regulator problems. In this work, we study a special class of such problems where distributed state feedback controllers can give…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
We study a distributed coordination mechanism for uniform agents located on a circle. The agents perform their actions in synchronised rounds. At the beginning of each round an agent chooses the direction of its movement from clockwise,…
This work studies the problem of distributed optimization in heterogeneous linear multi-agent systems. Instead of relying on a perfect communication network as in many existing distributed optimization approaches, we considered two…
This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
The coverage problem in wireless sensor networks deals with the problem of covering a region or parts of it with sensors. In this paper, we address the problem of covering a set of line segments in sensor networks. A line segment ` is said…
A wider selection of step sizes is explored for the distributed subgradient algorithm for multi-agent optimization problems, for both time-invariant and time-varying communication topologies. The square summable requirement of the step…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
We study sparse linear regression over a network of agents, modeled as an undirected graph and no server node. The estimation of the $s$-sparse parameter is formulated as a constrained LASSO problem wherein each agent owns a subset of the…
We study high-dimensional stochastic optimal control problems in which many agents cooperate to minimize a convex cost functional. We consider both the full-information problem, in which each agent observes the states of all other agents,…
We consider the centralized optimal estimation problem in spatially distributed systems. We use the setting of spatially invariant systems as an idealization for which concrete and detailed results are given. Such estimators are known to…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
We study spatial decay properties of sensitivities in a nonlinear optimal control problem with a graph-structured interaction topology. For a problem with nonlinear decoupled dynamics and quadratic cost, we show that a perturbation of the…
This paper is devoted to distributed continuous-time and discrete-time optimization problems with nonuniform convex constraint sets and nonuniform stepsizes for general differentiable convex objective functions. The communication graphs are…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…