Related papers: Synchronization of Multi-Agent Systems With Hetero…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…
We present new conditions to obtain synchronization and consensus patterns in complex network systems. The key idea is to exploit symmetries of the nodes' vector fields to induce a desired synchronization/consensus pattern, where nodes are…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output…
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…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
This paper aims to achieve scalable exact output and regulated output synchronization for discrete-time multi-agent systems in presence of disturbances and measurement noise with known frequencies. Both homogeneous and heterogeneous…
In this paper, we propose several models, which can realize synchronization of complex networks in finite time effectively. The results apply to heterogeneous dynamic networks, too. The mechanism of finite time convergence is revealed.…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
In this paper, we assume that an autonomous exosystem generates a reference output, and we consider the problem of designing a distributed data-driven control law for a family of discrete-time heterogeneous LTI agents, connected through a…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Dynamical systems can be coupled in a manner that is designed to drive the resulting dynamics onto a specified lower dimensional submanifold in the phase space of the combined system. On the submanifold, the variables of the two systems…
This note further studies the previously proposed consensus protocol for linear multi-agent systems with communication noises in [15], [16]. Each agent is allowed to have its own time-varying gain to attenuate the effect of communication…