Related papers: Decentralized Supervisory Control with Communicati…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
This paper investigates the supervisory control of nondeterministic discrete event systems to enforce bisimilarity with respect to deterministic specifications. A notion of synchronous simulation-based controllability is introduced as a…
This paper proposes decentralized resource-aware coordination schemes for solving network optimization problems defined by objective functions which combine locally evaluable costs with network-wide coupling components. These methods are…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
We relate behavior composition, a synthesis task studied in AI, to supervisory control theory from the discrete event systems field. In particular, we show that realizing (i.e., implementing) a target behavior module (e.g., a house…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
In decentralized optimization, nodes cooperate to minimize an overall objective function that is the sum (or average) of per-node private objective functions. Algorithms interleave local computations with communication among all or a subset…
The partial observability and stochasticity in multi-agent settings can be mitigated by accessing more information about others via communication. However, the coordination problem still exists since agents cannot communicate actual actions…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
Many real-world control systems, such as the smart grid and human sensorimotor control systems, have decentralized components that react quickly using local information and centralized components that react slowly using a more global view.…
In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our…
Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in continuous-time. It is well-known, however, that the passivity…
The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…
We provide a distributed coordinated approach to the stability analysis and control design of large-scale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed…
We present a new class of decentralized first-order methods for nonsmooth and stochastic optimization problems defined over multiagent networks. Considering that communication is a major bottleneck in decentralized optimization, our main…
The wireless communication technologies have fundamentally revolutionized industrial operations. The operation of the automated equipment is conducted in a closed-loop manner, where the status of devices is collected and sent to the control…
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…
In the control of many autonomous subsystems, such as autonomous vehicles or UAV networks, a centralized control may be hindered by the prohibitive complexity, limited communication bandwidth, or private information of subsystems.…
We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…