Related papers: Formation Control in Multi-Agent Systems Over Pack…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
One salient feature of cooperative formation tracking is its distributed nature that relies on localized control and information sharing over a sparse communication network. That is, a distributed control manner could be prone to malicious…
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 paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
Composite systems are large complex systems con- sisting of interconnected agents (subsystems). Agents in a com- posite system interact with each other towards performing an in- tended goal. Controllability is essential to achieve desired…
The performance of control systems with input packet losses on the controller to plant communication channel is analysed. The main contribution of this work is a proof that linear optimal control systems operating with UDP-like…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
Quality of service (QoS) for a network is characterized in terms of various parameters specifying packet delay and loss tolerance requirements for the application. The unpredictable nature of the wireless channel demands for application of…
We consider a leader-follower formation control setup as an example for a multi-agent networked control system (NCS). This paper proposes an event-based wireless communication scheme with a MIMO precoder, that dynamically adapts to both the…
Multi-agent systems can improve reliability, yet under a fixed inference budget they often help, saturate, or even collapse. We develop a minimal and calibratable theory that predicts these regimes from three binding constraints of modern…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
When several wireless users are sharing the spectrum, packet collision is a simple, yet widely used model for interference. Under this model, when transmitters cause interference at any of the receivers, their collided packets are discarded…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
The paper presented in this article deals with the issue of distributed cooperative formation of multi-agent systems (MASs). It proposes the use of appropriate neural network control methods to address formation requirements (uncertainties…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…
A multiuser multiple-input multiple-output wireless communication system is analytically studied under the short-packet transmission regime. The practical scenario of channel estimation errors is adopted when the signals undergo Rayleigh…
Coherent communications aim to support higher data rates and extended connectivity at lower power consumption compared with traditional point-to-point transmissions. The typical setting of coherent communication schemes is based on a single…
Delays and data losses are undesirable from a control system perspective as they tend to adversely affect performance Networked Control Systems (NCSs) are a class of control systems wherein control components exchange information using a…