Related papers: Formation Control in Multi-Agent Systems Over Pack…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
A crucial issue for a mobile ad hoc network is the handling of a large number of nodes. As more nodes join the mobile ad hoc network, contention and congestion are more likely. The on demand routing protocols which broadcasts control…
Leveraging recent results in finite-blocklength information theory, we investigate the problem of designing a control channel in a 5G system. The setup involves the transmission, under stringent latency and reliability constraints, of a…
When multiple users share a common link in direct transmission, packet loss and network collision may occur due to the simultaneous arrival of traffics at the source node. To tackle this problem, users may resort to an indirect path: the…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…
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. We consider a wireless networked control…
This paper presents an approach for low-cost simulation modeling for application development for wireless sensor networks. Computational complexity of simulating wireless sensor networks can be very high and as such must be carefully…
Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We study the performance of diffusion least-mean-square algorithms for distributed parameter estimation in multi-agent networks when nodes exchange information over wireless communication links. Wireless channel impairments, such as fading…
A PDE-based control concept is developed to deploy a multi-agent system into desired formation profiles. The dynamic model is based on a coupled linear, time-variant parabolic distributed parameter system. By means of a particular coupling…
In wireless control systems, remote control of plants is achieved through closing of the control loop over a wireless channel. As wireless communication is noisy and subject to packet dropouts, proper allocation of limited resources, e.g.…
This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…
Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…
This work investigates the probability that the delay and the peak-age of information exceed a desired threshold in a point-to-point communication system with short information packets. The packets are generated according to a stationary…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
We study the problem of building a maximum lifetime data collection tree for periodic convergecast applications in wireless sensor networks. We experimentally observe that if two nodes transmit same number of data packets, the amount of…
Wireless communications rely on path loss modeling, which is most effective when it includes the physical details of the propagation environment. Acquiring this data has historically been challenging, but geographic information systems data…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…