Related papers: Perfectly Controllable Multi-Agent Networks
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…
We consider the problem of synchronizing a multi-agent system (MAS) composed of several identical linear systems connected through a directed graph.To design a suitable controller, we construct conditions based on Bilinear Matrix…
This article considers consensus problem of multiagent systems with double integrator dynamics under nonuniform sampling. It is considered the maximum sampling time can be selected arbitrarily. Moreover, the communication graph can change…
Controlling real-world networked systems, including ecological, biomedical, and engineered networks that exhibit higher-order interactions, remains challenging due to inherent nonlinearities and large system scales. Despite extensive…
Controlling the topology of structures self-assembled from a set of heterogeneous building blocks is highly desirable for many applications, but is poorly understood theoretically. Here we show that the thermodynamic theory of self-assembly…
In this paper we present a computational modeling account of an active self in artificial agents. In particular we focus on how an agent can be equipped with a sense of control and how it arises in autonomous situated action and, in turn,…
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…
In recent times, various distributed optimization algorithms have been proposed for whose specific agent dynamics global optimality and convergence is proven. However, there exist no general conditions for the design of such algorithms. In…
This paper studies the problem of controlling complex networks, that is, the joint problem of selecting a set of control nodes and of designing a control input to steer a network to a target state. For this problem (i) we propose a metric…
New advances in large scale distributed systems have amazingly offered complex functionalities through parallelism of simple and rudimentary components. The key issue in cooperative control of multi-agent systems is the synthesis of local…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers…
In this paper, we introduce an optimal control problem for multi-agent systems with non-local cost which favors simultaneous aggregation of particles. This is done introducing a time-dependent notion of multiplicity whose intrinsic…
Accurate local state measurement is important to ensure the reliable operation of distributed multi-agent systems (MAS). Existing fault-tolerant control strategies generally assume the sensor faults to be bounded and uncorrelated. In this…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedback control input for such MASs depends no only on the…
In this paper, we study controllability of a network of linear single-integrator agents when the network size goes to infinity. We first investigate the effect of increasing size by injecting an input at every node and requiring that…
This paper deals with strong structural controllability of linear structured systems in which the system matrices are given by zero/nonzero/arbitrary pattern matrices. Instead of assuming that the nonzero and arbitrary entries of the system…