Related papers: The Application of Distributed Control Algorithms …
Decentralization, immutability and transparency make of Blockchain one of the most innovative technology of recent years. This paper presents an overview of solutions based on Blockchain technology for multi-agent robotic systems, and…
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…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…
The shift of power systems toward a smarter grid has brought devices such as distributed generators and smart loads with an increase of the operational challenges for the system operator. These challenges are related to the real-time…
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…
This paper presents a fuzzy inference system for voltage/reactive power control in distribution substations. The purpose is go forward to automation distribution and its implementation in isolated power systems where control capabilities…
Due to the fluctuating nature of the wind and the increasing use of wind energy as a power source, wind power will have an increasing negative influence on the stability of the power grid. In this paper, a model predictive control strategy…
In a data center network, for example, it is quite often to use controllers to manage resources in a centralized man- ner. Centralized control, however, imposes a scalability problem. In this paper, we investigate the use of multiple…
The National Research Platform (NRP) represents a distributed, multi-tenant Kubernetes-based cyberinfrastructure designed to facilitate collaborative scientific computing. Spanning over 75 locations in the U.S. and internationally, the NRP…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
In this paper, we propose a distributed voltage control in power distribution networks through reactive power compensation. The proposed control can (i) operate in a distributed fashion where each bus makes its decision based on local…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
An adequate education on power system operations and controls requires a hands-on experience on a graphical user interface (GUI) based software. At present, most commercial software do not have free editions with high flexibility and most…
In this paper a novel distributed control algorithm for current sharing and voltage regulation in Direct Current (DC) microgrids is proposed. The DC microgrid is composed of several Distributed Generation units (DGUs), including Buck…
The Model Predictive Control (MPC) approach is used in this paper to control the voltage profiles in MV networks with distributed generation. The proposed algorithm lies at the intermediate level of a three-layer hierarchical structure. At…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…