Related papers: Fault Tolerant Control for Networked Mobile Robots
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
Fault detection and isolation is an area of engineering dealing with designing on-line protocols for systems that allow one to identify the existence of faults, pinpoint their exact location, and overcome them. We consider the case of…
In this paper, we consider networked estimation of linear, discrete-time dynamical systems monitored by a network of agents. In order to minimize the power requirement at the (possibly, battery-operated) agents, we require that the agents…
In this paper, a discrete-time multi-agent system is presented which is formulated in terms of the delta operator. The proposed multi-agent system can unify discrete-time and continuous-time multi-agent systems. In a multi-agent network, in…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
In this paper, we study the continuous-time consensus problem in the presence of adversaries. The networked multi-agent system is modeled as a switched system, where the normal agents have integrator dynamics and the switching signal…
Vehicular platooning promises transformative improvements in transportation efficiency and safety through the coordination of multi-vehicle formations enabled by Vehicle-to-Everything (V2X) communication. However, the distributed nature of…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
This paper presents an empirically grounded agent-based model capturing trust dynamics, workload distribution, and collaborative performance in human-robot teams. The model, implemented in NetLogo 6.4.0, simulates teams of 2--10 agents…
Sensor networks provide services to a broad range of applications ranging from intelligence service surveillance to weather forecasting. Most of the sensor networks are terrestrial, however much of our planet is covered by water and…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
Faults occurring in ad-hoc robot networks may fatally perturb their topologies leading to disconnection of subsets of those networks. Optimal topology synthesis is generally resource-intensive and time-consuming to be done in real time for…
Designing fault tolerance mechanisms for multi-agent systems is a notoriously difficult task. In this paper we present an approach to formal development of a fault tolerant multi-agent system by refinement in Event-B. We demonstrate how to…
Many machine learning problems can be formulated as consensus optimization problems which can be solved efficiently via a cooperative multi-agent system. However, the agents in the system can be unreliable due to a variety of reasons:…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the…