Related papers: Formation Control in Multi-Agent Systems Over Pack…
This paper investigates closed-loop stability of a linear discrete-time plant subject to bounded disturbances when controlled according to packetized predictive control (PPC) policies. In the considered feedback loop, the controller is…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
In this paper, we study a model reduction technique for leader-follower networked multi-agent systems defined on weighted, undirected graphs with arbitrary linear multivariable agent dynamics. In the network graph of this network, nodes…
The communication channels used to convey information between the components of wireless networked control systems (WNCSs) are subject to packet losses due to time-varying fading and interference. The WNCSs with missing packets can be…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
In the current work the effects of hop-by-hop packet loss and retransmissions via ARQ protocols are investigated within a Mobile Ad-hoc NET-work (MANET). Errors occur due to outages and a success probability function is related to each…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
Most of the recent advances in the design of high-speed wireless systems are based on information-theoretic principles that demonstrate how to efficiently transmit long data packets. However, the upcoming wireless systems, notably the 5G…
Wireless short-packet communications pose challenges to the security and reliability of the transmission. Besides, the proactive warder compounds these challenges, who detects and interferes with the potential transmission. An extra jamming…
This paper presents a spatio-temporal inverse optimal control framework for understanding interactions in multi-agent systems (MAS). We employ a graph representation approach and model the dynamics of interactions between agents as…
We introduce and develop the concept of dispersion formation control, bridging a gap between shape-assembly studies in physics and biology and formation control theory. In current formation control studies, the control objectives typically…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…
Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. This paper studies non-fragility of…
We address the problem of efficiently gathering correlated data from a wired or a wireless sensor network, with the aim of designing algorithms with provable optimality guarantees, and understanding how close we can get to the known…
In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…
A fundamental problem faced in the design of almost all packet networks is that of efficient operation--of reliably communicating given messages among nodes at minimum cost in resource usage. We present a solution to the efficient operation…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
Traditional radio systems are strictly co-designed on the lower levels of the OSI stack for compatibility and efficiency. Although this has enabled the success of radio communications, it has also introduced lengthy standardization…
Formation control simplifies minimizing multi-robot cost functions by encoding a cost function as a shape the robots maintain. However, by reducing complex cost functions to formations, discrepancies arise between maintaining the shape and…