Related papers: Decentralized Supervisory Control with Communicati…
Models of complex systems often consist of multiple interconnected subsystem/component models that are developed by multi-disciplinary teams of engineers or scientists. To ensure that such interconnected models can be applied for the…
The technological advancements facilitating the rapid development of cyber-physical systems (CPS) also render such systems vulnerable to cyber attacks with devastating effects. Supervisory control is a commonly used control method to…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work that has only considered systems with dynamically decoupled…
This paper proposes a distributed design method of controllers having a glocal (global/local) information structure for large-scale network systems. Distributed design, independent design of all subcontrollers that constitute a structured…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
In this paper, we further develop the coordination control scheme for discrete-event systems based on the Ramadge-Wonham framework. The notions of conditional decomposability, conditional controllability, and conditional closedness are…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
Decentralized stochastic control refers to the multi-stage optimization of a dynamical system by multiple controllers that have access to different information. Decentralization of information gives rise to new conceptual challenges that…
In literature, extensive research has been done with respect to synthesis of supervisory controllers. Such synthesized supervisors can be distributed for implementation on multiple physical controllers. This paper discusses a method for…
We investigate deterministic and nonblocking supervisory control of discrete event systems under cyber-attacks using the ALTER (Attack Language for Transition-basEd Replacement) model. While prior works consider supervisory control that…
Distributed algorithms have been playing an increasingly important role in many applications such as machine learning, signal processing, and control. Significant research efforts have been devoted to developing and analyzing new algorithms…
In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…
We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a…
This paper presents a concise overview of sensitivity-based methods for solving large-scale optimization problems in distributed fashion. The approach relies on sensitivities and primal decomposition to achieve coordination between the…
A key motivation in the development of Distributed Model Predictive Control (DMPC) is to accelerate centralized Model Predictive Control (MPC) for large-scale systems. DMPC has the prospect of scaling well by parallelizing computations…
Manufacturing systems may be subject to external attacks and failures, so it is important to deal with the recovery of the system after these situations. This paper deals with the problem of recovering a manufacturing system, modeled as a…
Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed…
A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…