Related papers: Multi-Agent Distributed Coordination Control: Deve…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
This paper discusses distributed optimization over a directed graph. We begin with some well known algorithms which achieve consensus among agents including FROST [1], which possesses the quickest convergence to the optimum. It is a well…
This work presents a novel communication framework for decentralized multi-agent systems operating in dynamic network environments. Integrated into a multi-agent reinforcement learning system, the framework is designed to enhance…
Multi-agent networks are often modeled as interaction graphs, where the nodes represent the agents and the edges denote some direct interactions. The robustness of a multi-agent network to perturbations such as failures, noise, or malicious…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
Diffusion processes are instrumental to describe the movement of a continuous quantity in a generic network of interacting agents. Here, we present a probabilistic framework for diffusion in networks and propose to classify agent…
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…
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…
This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
Contemporary technological challenges often involve many degrees of freedom in a distributed or networked setting. Three aspects are notable: the variables are usually associated with the nodes of a graph with limited communication…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
In this paper, the fast consensus problem of high-order multi-agent systems under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. An accelerated consensus…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…