Related papers: Distributed Estimation of State and Parameters in …
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
This paper presents a unified modeling, control, and estimation framework for the quadruple-tank process, a benchmark multivariable system that exhibits either minimum phase or nonminimum phase behavior depending on valve flow ratios. A…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
In this paper, we propose a distributed off-policy actor critic method to solve multi-agent reinforcement learning problems. Specifically, we assume that all agents keep local estimates of the global optimal policy parameter and update…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
This paper presents a distributed Koopman operator learning framework for modeling unknown nonlinear dynamics using sequential observations from multiple agents. Each agent estimates a local Koopman approximation based on lifted data and…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
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…
State estimation for a class of linear time-invariant systems with distributed output measurements (distributed sensors) and unknown inputs is addressed in this paper. The objective is to design a network of observers such that the state…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
State-dependent networked dynamical systems are ones where the interconnections between agents change as a function of the states of the agents. Such systems are highly nonlinear, and a cohesive strategy for their control is lacking in the…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
Handheld devices, while growing rapidly, are inherently constrained and lack the capability of executing resource hungry applications. This paper presents the design and implementation of distributed analysis and load-balancing system for…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a directed and fully…
In this paper, we deal with risk evaluation and risk-averse optimization of complex distributed systems with general risk functionals. We postulate a novel set of axioms for the functionals evaluating the total risk of the system. We derive…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…