Related papers: Distributed sampled-data control of nonholonomic m…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…
Due to their inherent complexity, engineered wireless multihop ad hoc communication networks represent a technological challenge. Having no mastering infrastructure the nodes have to selforganize themselves in such a way that for example…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Sampling arises simultaneously with input and output delays in networked control systems. When the delay is left uncompensated, the sampling period is generally required to be sufficiently small, the delay sufficiently short, and, for…
We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown environments and under heterogeneous inter-agent communication…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
We consider a basic model of a dynamical distribution network, modeled as a directed graph with storage variables corresponding to every vertex and flow inputs corresponding to every edge, subject to unknown but constant inflows and…
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…
Systems such as sensor networks and teams of autonomous robots consist of multiple autonomous entities that interact with each other in a distributed, asynchronous manner. These entities need to keep track of the state of the system as it…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…