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This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized…
This is a complete version of the 6-page IEEE TAC technical note [1]. In this paper, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed…
In this paper, we consider a secure distributed filtering problem for linear time-invariant systems with bounded noises and unstable dynamics under compromised observations. A malicious attacker is able to compromise a subset of the agents…
We consider the problem of distributedly estimating Gaussian processes in multi-agent frameworks. Each agent collects few measurements and aims to collaboratively reconstruct a common estimate based on all data. Agents are assumed with…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
This paper studies distributed resilient consensus problem for a class of uncertain nonlinear multiagent systems susceptible to deception attacks. The attacks invade both sensor and actuator channels of each agent. A specific class of…
This papers studies multi-agent (convex and \emph{nonconvex}) optimization over static digraphs. We propose a general distributed \emph{asynchronous} algorithmic framework whereby i) agents can update their local variables as well as…
This paper aims to propose and theoretically analyze a new distributed scheme for sparse linear regression and feature selection. The primary goal is to learn the few causal features of a high-dimensional dataset based on noisy observations…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
This paper considers nonconvex distributed constrained optimization over networks, modeled as directed (possibly time-varying) graphs. We introduce the first algorithmic framework for the minimization of the sum of a smooth nonconvex…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
Motivated by recent development in networking and parallel data-processing, we consider a distributed and localized finite-sum (or fixed-sum) allocation technique to solve resource-constrained convex optimization problems over multi-agent…
A time-invariant, linear, distributed observer is described for estimating the state of an $m>0$ channel, $n$-dimensional continuous-time linear system of the form $ \dot{x} = Ax,\ y_i = C_i x,\ i \in \{1,2,\cdots, m\}$. The state $x$ is…
Assuming a random uniform distribution of n sensor nodes over a virtual grid, this paper addresses the problem of finding the maximum number of connected set covers each ensuring 100% coverage of the query region. The connected sets remain…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
We study the problem of distributed state estimation in a network of sensing units that can exchange their measurements but the rate of communication between the units is constrained. The units collect noisy, possibly only partial…
This paper considers the optimal distributed control problem for a linear stochastic multi-agent system (MAS). Due to the distributed nature of MAS network, the information available to an individual agent is limited to its vicinity. From…
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…