Related papers: Formation Control in Multi-Agent Systems Over Pack…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Wireless sensor/actuator networks (WSANs) are emerging as a new generation of sensor networks. Serving as the backbone of control applications, WSANs will enable an unprecedented degree of distributed and mobile control. However, the…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
In a multi-hop mobile ad hoc network (MANET) mobile nodes communicate with each other forming a cooperative radio network. Security remains a major challenge for these networks due to their features of open medium, dynamically changing…
Future wireless networks are envisioned to integrate multi-hop, multi-operator, multi-technology (m3) components in order to meet the increasing traffic demand at an acceptable price for subscribers. The performance of such a network…
We study packetized predictive control, known to be robust against packet dropouts in networked systems. To obtain sparse packets for rate-limited networks, we design control packets via an L0 optimization, which can be effectively solved…
Communications are realized as a result of successive decisions at the physical layer, from modulation selection to multi-antenna strategy, and each decision affects the performance of the communication systems. Future communication systems…
Efficient stochastic simulation algorithms are of paramount importance to the study of spreading phenomena on complex networks. Using insights and analytical results from network science, we discuss how the structure of contacts affects the…
Estimation problems in wireless sensor networks typically involve gathering and processing data from distributed sensors to infer the state of an environment at the fusion center. However, not all measurements contribute significantly to…
Consider a set of clients in a broadcast network, each of which holds a subset of packets in the ground set X. In the (coded) cooperative data exchange problem, the clients need to recover all packets in X by exchanging coded packets over a…
A mobile sensor network is a wireless network of sensor nodes that move arbitrarily. In this paper, we explore the use of a maximum stability spanning tree-based data gathering (Max.Stability-DG) algorithm and a minimum-distance spanning…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
In this paper, we consider a federated learning problem over wireless channel that takes into account the coding rate and packet transmission errors. Communication channels are modelled as packet erasure channels (PEC), where the erasure…
We consider a wireless node that randomly receives data from different sensor units. The arriving data must be compressed, stored, and transmitted over a wireless link, where both the compression and transmission operations consume power.…
This paper considers controlled scalar systems relying on a lossy wireless feedback channel. In contrast with the existing literature, the focus is not on the system controller but on the wireless transmit power controller that is…
We study the problem of inferring communication structures that can solve cooperative multi-agent planning problems while minimizing the amount of communication. We quantify the amount of communication as the maximum degree of the…
During overload, most networks drop packets due to buffer unavailability. The resulting timeouts at the source provide an implicit mechanism to convey congestion signals from the network to the source. On a timeout, a source should not only…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
The networked nature of multi-robot systems presents challenges in the context of multi-agent reinforcement learning. Centralized control policies do not scale with increasing numbers of robots, whereas independent control policies do not…