Related papers: Optimal Local and Remote Controllers with Unreliab…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
This paper considers controlled scalar systems relying on a lossy wireless feedback channel. In contrast with the existing literature, the focus is not on the system controller but on the wireless transmit power controller that is…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, approximate optimal controllers for distributed multi-agent…
In this paper, a decentralized stochastic control system consisting of one leader and many homogeneous followers is studied. The leader and followers are coupled in both dynamics and cost, where the dynamics are linear and the cost function…
This paper considers a wireless networked control system (WNCS) consisting of a dynamic system to be controlled (i.e., a plant), a sensor, an actuator and a remote controller for mission-critical Industrial Internet of Things (IIoT)…
The H2 guaranteed cost decentralized control problem is investigated in this work. More specifically, on the basis of an appropriate H2 re-formulation that we put in place, the optimal control problem in the presence of parameter…
In this paper, network of agents with identical dynamics is considered. The agents are assumed to be fed by self and neighboring output measurements, while the states are not available for measuring. Viewing distributed estimation as dual…
The convergence of policy gradient algorithms in reinforcement learning hinges on the optimization landscape of the underlying optimal control problem. Theoretical insights into these algorithms can often be acquired from analyzing those of…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
We consider a dynamically decoupled network of agents each with a local output-feedback controller. We assume each agent is a node in a directed acyclic graph and the controllers share information along the edges in order to cooperatively…
We consider the optimal control design problem for discrete-time LTI systems with state feedback, when the actuation signal is subject to unmeasurable switching propagation delays, due to e.g. the routing in a multi-hop communication…
We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…
Many real-world control systems, such as the smart grid and human sensorimotor control systems, have decentralized components that react quickly using local information and centralized components that react slowly using a more global view.…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
In this paper, we consider controlled linear dynamical systems in which the controller has only access to a compressed version of the system state. The technical problem we investigate is that of allocating compression resources over time…
In this paper, we investigate a decentralized control problem with nested subsystems, which is a general model for one-directional communication amongst many subsystems. The noises in our dynamics are modelled as uncertain variables which…
This work addresses the decentralized optimization problem where a group of agents with coupled private objective functions work together to exactly optimize the summation of local interests. Upon modeling the decentralized problem as an…
Passivity-based approaches have been suggested as a solution to the problem of decentralised control design in many multi-agent network control problems due to the plug- and-play functionality they provide. However, it is not clear if these…
Pragmatic or goal-oriented communication can optimize communication decisions beyond the reliable transmission of data, instead aiming at directly affecting application performance with the minimum channel utilization. In this paper, we…