Related papers: Cooperative Estimation for Synchronization of Hete…

We present an algorithm for the problem of linear distributed estimation of a parameter in a network where a set of agents are successively taking measurements. The approach considers a roaming token in a network that carries the estimate,…

We propose a new distributed optimization algorithm for solving a class of constrained optimization problems in which (a) the objective function is separable (i.e., the sum of local objective functions of agents), (b) the optimization…

The problem of distributed identification of linear stochastic system with unknown coefficients over time-varying networks is considered. For estimating the unknown coefficients, each agent in the network can only access the input and the…

Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This paper, in contrast, considers single time-scale distributed estimation via a sensor network subject to…

In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take measurements and fuse them online using an Information Consensus…

This paper proposes a distributed attack detection and mitigation technique based on distributed estimation over a multi-agent network, where the agents take partial system measurements susceptible to (possible) biasing attacks. In…

We present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decentralized multi-agent system. The proposed approaches rely on…

In this article, we focus on the cooperative state estimation problem of a multi-agent system. Each agent is equipped with absolute and relative measurements. The purpose of this research is to make each agent generate its own state…

In this paper, a distributed subgradient-based algorithm is proposed for continuous-time multi-agent systems to search a feasible solution to convex inequalities. The algorithm involves each agent achieving a state constrained by its own…

For distributed estimations in a sensor network, the consistency and accuracy of an estimator are greatly affected by the unknown correlations between individual estimates. An inconsistent or too conservative estimate may degrade the…

We consider several estimation and learning problems that networked agents face when making decisions given their uncertainty about an unknown variable. Our methods are designed to efficiently deal with heterogeneity in both size and…

This paper investigates distributed zeroth-order feedback optimization in multi-agent systems with coupled constraints, where each agent operates its local action vector and observes only zeroth-order information to minimize a global cost…

The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…

The problem of distributed dynamic state estimation in wireless sensor networks is studied. Two important properties of local estimates, namely, the consistency and confidence, are emphasized. On one hand, the consistency, which means that…

This paper presents a novel distributed low-rank scheme and adaptive algorithms for distributed estimation over wireless networks. The proposed distributed scheme is based on a transformation that performs dimensionality reduction at each…

We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited…

In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedback control input for such MASs depends no only on the…

We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed input/state observer, each agent estimates the state and input…