Related papers: Formation Control in Multi-Agent Systems Over Pack…
Packet losses in the network significantly impact network performance. Most TCP variants reduce the transmission rate when detecting packet losses, assuming network congestion, resulting in lower throughput and affecting bandwidth-intensive…
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
Formation control allows agents to maintain geometric patterns using local information, but most existing methods assume ideal communication. This paper introduces a goal-oriented framework combining control, cooperative positioning, and…
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
A problem with considering correlations in the analysis of multiagent system with stochastic packet loss is that they induce dependencies between agents that are otherwise decoupled, preventing the application of decomposition methods…
We consider the joint design of packet forwarding policies and controllers for wireless control loops where sensor measurements are sent to the controller over an unreliable and energy-constrained multi-hop wireless network. For fixed…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
In this paper, we study wireless networked control systems in which the sensing devices are powered by energy harvesting. We consider a scenario with multiple plants, where the sensors communicate their measurements to their respective…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
We consider the problem of data exchange by a group of closely-located wireless nodes. In this problem each node holds a set of packets and needs to obtain all the packets held by other nodes. Each of the nodes can broadcast the packets in…
A distributed adaptive algorithm to estimate a time-varying signal, measured by a wireless sensor network, is designed and analyzed. One of the major features of the algorithm is that no central coordination among the nodes needs to be…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
We consider the problem of establishing minimum-cost multicast connections over coded packet networks, i.e. packet networks where the contents of outgoing packets are arbitrary, causal functions of the contents of received packets. We…
We consider the problem of allocating radio resources over wireless communication links to control a series of independent wireless control systems. Low-latency transmissions are necessary in enabling time-sensitive control systems to…
Wireless control systems replace traditional wired communication with wireless networks to exchange information between actuators, plants and sensors in a control system. The noise in wireless channels renders ideal control policies…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…