Related papers: Distributed Event-Based State Estimation for Netwo…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
Nowadays, the prevalence of sensor networks has enabled tracking of the states of dynamic objects for a wide spectrum of applications from autonomous driving to environmental monitoring and urban planning. However, tracking real-world…
We consider the problem of distributing a control policy across a network of interconnected units. Distributing controllers in this way has a number of potential advantages, especially in terms of robustness, as the failure of a single unit…
This work introduces a novel, modular, layered web based platform for managing machine learning experiments on grid-based High Performance Computing infrastructures. The coupling of the communication services offered by the grid, with an…
This paper presents a complete design, analysis, and performance evaluation of a novel distributed event-triggered control and estimation strategy for DC microgrids. The primary objective of this work is to efficiently stabilize the grid…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
We study distributed estimation of a high-dimensional static parameter vector through a group of sensors whose communication network is modeled by a fixed directed graph. Different from existing time-triggered communication schemes, an…
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
The adaptive distributed observer approach has been an effective tool for synthesizing a distributed control law for solving various control problems of leader-follower multiagent systems. However, the existing adaptive distributed observer…
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data…
Bus system is a critical component of sustainable urban transportation. However, the operation of a bus fleet is unstable in nature, and bus bunching has become a common phenomenon that undermines the efficiency and reliability of bus…
In this paper, we study the problem of continuous-time state observation over lossy communication networks. We consider the situation in which the samplers for measuring the output of the plant are spatially distributed and their…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem…
This paper considers a remote state estimation problem with multiple sensors observing a dynamical process, where sensors transmit local state estimates over an independent and identically distributed (i.i.d.) packet dropping channel to a…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
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…