Related papers: Formation Control in Multi-Agent Systems Over Pack…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
One of the fundamental data transmission mechanisms in Ethernet LAN is broadcasting. Flooding is a direct broadcasting technique used in these networks. A significant drawback of this method is that it can lead to broadcast storms. This…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
This two-part paper discusses robustification methodologies for linear-iterative distributed algorithms for consensus and coordination problems in multicomponent systems, in which unreliable communication links may drop packets. We consider…
This paper considers a remote state estimation problem with multiple sensors observing a dynamical process, where sensors transmit local state estimates over an independent and identically distributed (i.i.d.) packet dropping channel to a…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
In a wireless system with a large number of distributed nodes, the quality of communication can be greatly improved by pooling the nodes to perform joint transmission/reception. In this paper, we consider the problem of optimally selecting…
For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, controllability of multi-agent systems under directed topologies is studied, especially on leader selection…
Packet-loss is a common problem in data transmission, using Voice over IP. The problem is an old problem, and there has been a variety of classical approaches that were developed to overcome this problem. However, with the rise of deep…
Packet routing is a fundamental problem in communication networks that decides how the packets are directed from their source nodes to their destination nodes through some intermediate nodes. With the increasing complexity of network…
The control problem of a linear discrete-time dynamical system over a multi-hop network is explored. The network is assumed to be subject to packet drops by malicious and nonmalicious nodes as well as random and malicious data corruption…
The dynamical processes taking place on a network depend on its topology. Influencing the growth process of a network therefore has important implications on such dynamical processes. We formulate the problem of influencing the growth of a…
We study joint downlink-uplink beamforming design for wireless federated learning (FL) with a multi-antenna base station. Considering analog transmission over noisy channels and uplink over-the-air aggregation, we derive the global model…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
In this paper we consider the problem of transmission power allocation for remote estimation of a dynamical system in the case where the estimator is able to simultaneously receive packets from multiple interfering sensors, as it is…