Related papers: Distributed sampled-data control of nonholonomic m…
This paper considers the distributed H-infinity leader-following tracking problem for a class of discrete time multi-agent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
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…
This paper studies the distributed L2-gain control problem for continuous-time large-scale systems under Round-Robin communication protocol. In this protocol, each sub-controller obtains its own subsystem's state information continuously,…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
Distributed decision making in multi-agent networks has recently attracted significant research attention thanks to its wide applicability, e.g. in the management and optimization of computer networks, power systems, robotic teams, sensor…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…