Related papers: Distributed Estimation of State and Parameters in …

This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors; the…

This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights…

The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…

We investigate the scenario where a perturbed nonlinear system transmits its output measurements to a remote observer via a packet-based communication network. The sensors are grouped into N nodes and each of these nodes decides when its…

Current approaches to multi-agent cooperation rely heavily on centralized mechanisms or explicit communication protocols to ensure convergence. This paper studies the problem of distributed multi-agent learning without resorting to…

We address the conflicting requirements of a multi-agent assignment problem through constrained reinforcement learning, emphasizing the inadequacy of standard regularization techniques for this purpose. Instead, we recur to a state…

Conventional control of fluid systems does not consider system-wide knowledge for optimising energy efficient operation. Distributed control of fluid systems combines reliable local control of components while using system-wide cooperation…

In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…

We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…

Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equations of rotational motion. This paper demonstrates that the…

Most distributed sensing methods assume that the expected value of sensed information is same for all agents ignoring differences in sensor capabilities due to, for example, environmental factors and sensors quality and condition. In this…

This paper proposes a fully distributed robust state-estimation (D-RBSE) method that is applicable to multi-area power systems with nonlinear measurements. We extend the recently introduced bilinear formulation of state estimation problems…

Uncertainty-aware prediction is essential for safe motion planning, especially when using learned models to forecast the behavior of surrounding agents. Conformal prediction is a statistical tool often used to produce uncertainty-aware…

In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with…

This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…

Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…

Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…

We develop a method for offline parameter estimation of discrete multibody dynamics with regularized and frictional kinematic constraints. This setting leads to unobserved degrees of freedom, which we handle using joint state and parameter…

This paper is concerned with the problem of distributed estimation for time-varying interconnected dynamic systems with arbitrary coupling structures. To guarantee the robustness of the designed estimators, novel distributed stability…

This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…