Related papers: A collisionless singular Cucker-Smale model with d…
This note introduces a new method for establishing alignment in systems of collective behavior with degenerate communication protocol. The communication protocol consists of a kernel defining interaction between pairs of agents. Degeneracy…
The purpose of this paper is to study and design direct and indirect couplings for use in coherent feedback control of a class of linear quantum stochastic systems. A general physical model for a nominal linear quantum system coupled…
This document considers the formation control problem for a group of non-holonomic mobile robots under time delayed communications. The agents are assumed to be working under a directed and fixed communication topology. A recently developed…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
This paper investigates a decentralized design approach of leader-following consensus protocols for heterogeneous multiagent systems under a fixed communication topology with a directed spanning tree (DST) and asymmetric weight matrix.…
This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing the SFF system to subsystems, a generic~term (namely…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…
This paper presents an elementary proof of quantitative uniform-in-time propagation of chaos for the Cucker--Smale model under sufficiently strong interaction. The idea is to combine existing finite-time propagation of chaos estimates with…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
Feedback control in open quantum dynamics is crucial for the advancement of various coherent platforms. However, currently only a handful of feedback master equations exist in the literature, which are restricted to specific types of…
Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust formulations that are amenable to distributed design and…
This paper develops a dynamical framework for adaptive coordination in systems of interacting agents referred to here as Feedback-Coupled Memory Systems (FCMS). Instead of framing coordination as equilibrium optimization or agent-centric…
We introduce and discuss two nonlinear perturbed extensions of the Cucker-Smale model with asymmetric coupling weights. The first model assumes a finite collection of autonomous agents aiming to perform a consensus process in the presence…
Collective behaviors such as swarming and flocking emerge from simple, decentralized interactions in biological systems. Existing models, such as Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber model imposes…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…