Related papers: Decentralized Supervisory Control with Communicati…
Due to the appearance of uncontrollable events in discrete event systems, one may wish to replace the behavior leading to the uncontrollability of pre-specified language by some quite similar one. To capture this similarity, we introduce…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…
This paper describes a hierarchical control scheme for interconnected systems. The higher layer of the control structure is designed with robust Model Predictive Control (MPC) based on a reduced order dynamic model of the overall system and…
This paper is concerned with the decentralized stabilization problem for a class of uncertain large-scale systems with Markovian jump parameters. The controllers use local subsystem states and neighboring mode information to generate local…
In multilevel supervisor synthesis, dependency structure matrix techniques can be used to transform the models of plants and requirements into a tree-structured hierarchical decomposition of the synthesis problem and thus efficiently…
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…
Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…
In this paper, we analyze a network of agents that communicate through the ``word of mouth," in which, every agent communicates only with its neighbors. We introduce the prescription approach, present some of its properties and show that it…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Decentralized air traffic management requires coordination among self-interested stakeholders operating under shared safety and capacity constraints, where conventional centralized or implicitly cooperative models do not adequately capture…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
A general model of decentralized stochastic control called partial history sharing information structure is presented. In this model, at each step the controllers share part of their observation and control history with each other. This…
Subsystems that are coupled due to dynamics and costs arise naturally in various communication applications. In many such applications the control actions are shared between different control stations giving rise to a \emph{control sharing}…
In this paper we revisit the abstraction-based approach to synthesize a hierarchy of decentralized supervisors and coordinators for nonblocking control of large-scale discrete-event systems (DES), and augment it with a new clustering method…
Systems of deterministic finite automata communicating by sending their states upon request are investigated, when the amount of communication is restricted. The computational power and decidability properties are studied for the case of…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…