Related papers: Non-Fragility and Partial Controllability of Multi…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…
In this paper, we introduce an optimal control problem for multi-agent systems with non-local cost which favors simultaneous aggregation of particles. This is done introducing a time-dependent notion of multiplicity whose intrinsic…
We address the problem of computing a Minimal Dominating Set in highly dynamic distributed systems. We assume weak connectivity, i.e., the network may be disconnected at each time instant and topological changes are unpredictable. We make…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
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…
Nonlinear networked systems are of interest in several areas of research, such as multi-agent systems and social networks. In this paper, we examine the controllability of several classes of nonlinear networked dynamics on which the…
Accurately identifying the underlying graph structures of multi-agent systems remains a difficult challenge. Our work introduces a novel machine learning-based solution that leverages the attention mechanism to predict future states of…
This paper explores the state controllability of multilayer networked sampled-data systems with inter-layer couplings, where zero-order holders (ZOHs) are on the control and transmission channels. The effects of both single- and multi-rate…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
Identifying the most influential driver nodes to guarantee the fastest synchronization speed is a key topic in pinning control of multi-agent systems. This paper develops a methodology to find the most influential pinning nodes under…
The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only…
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left-invariant control system on a Lie group. The agents…
This paper addresses the finite-time non-overshooting leader-following consensus problem for multi-agent systems, whose agents are modeled by a dynamical system topologically equivalent to the integrator chain. Based on the weighted…
We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…
A problem with considering correlations in the analysis of multiagent system with stochastic packet loss is that they induce dependencies between agents that are otherwise decoupled, preventing the application of decomposition methods…