Related papers: Cooperative Set Aggregation for Multiple Lagrangia…
In this work we develop a numerical method for solving a type of convex graph-structured tensor optimization problems. This type of problems, which can be seen as a generalization of multi-marginal optimal transport problems with…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Distributed aggregative optimization is a recently emerged framework in which the agents of a network want to minimize the sum of local objective functions, each one depending on the agent decision variable (e.g., the local position of a…
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concept of reachability of a target tube in the control literature…
Maintaining optical alignment between stations of a free-space optical link requires a persistent beam tracking operation. This is achieved using a position-sensitive photodetector at each station which measures the azimuth and elevation of…
We obviate the use of observers for the purpose of output feedback tracking control of Lagrangian systems and solve some long-standing yet well-documented open problems. As often implemented in control practice, we replace unavailable…
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)…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
We propose predefined-time consensus-based cooperative guidance laws for a swarm of interceptors to simultaneously capture a target capable of executing various kinds of motions. Unlike leader-follower cooperative guidance techniques, the…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
This paper introduces the concept of trajectory encryption in cooperative simultaneous target interception, wherein heterogeneity in guidance principles across a team of unmanned autonomous systems is leveraged as a strategic design…
Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way, which has enabled the size and complexity of control applications to increase.…
We consider the classical problem of making mobile processes gather or converge at a same position (as performed by swarms of animals in Nature). Existing works assume that each process can see all other processes, or all processes within a…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…