Related papers: Formation Control in Multi-Agent Systems Over Pack…
In wireless communication-based formation control systems, the control performance is significantly impacted by the channel capacity of each communication link between agents. This relationship, however, remains under-investigated in the…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
An important aspect in jointly analysing networked control systems and their communication is to model the networking in a sufficiently rich but at the same time mathematically tractable way. As such, this paper improves on a recently…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent…
Much of the current theory of networked control systems uses simple point-to-point communication models as an abstraction of the underlying network. As a result, the controller has very limited information on the network conditions and…
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information…
We study the fundamental problem of distributed network formation among mobile agents of limited computational power that aim to achieve energy balance by wirelessly transmitting and receiving energy in a peer-to-peer manner. Specifically,…
A stochastic Model Predictive Control strategy for control systems with communication networks between the sensor node and the controller and between the controller and the actuator node is proposed. Data packets are subject to random…
There is a growing interest in design and implementation of cyber-physical control systems over wireless sensor and actuator networks (WSANs). Thanks to the use of wireless communications and distributed architectures, these systems…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
We study cyber security issues in networked control of a linear dynamical system. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel that face malicious attacks as well as…
This paper proposes a simple model to capture the complexity of multi-layer systems where their constituent layers affect, are affected by, each other. The physical layer is a circuit composed by a power source and resistors in parallel.…
We investigate a networked control architecture for LTI plant models with a scalar input. Communication from controller to actuator is over an unreliable network which introduces packet dropouts. To achieve robustness against dropouts, we…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…