Related papers: Self-triggered distributed k-order coverage contro…
This paper re-visits a multi-agent deployment problem where agents are restricted from requesting information from other agents as well as sending acknowledgments when information is received. These communication constraints relax the…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
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…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
This paper studies the real-time implementation of distributed controllers on networked cyber-physical systems. We build on the strengths of event- and self-triggered control to synthesize a unified approach, termed team-triggered, where…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
The consensus problem for multi-agent systems with quantized communication or sensing is considered. Centralized and distributed self-triggered rules are proposed to reduce the overall need of communication and system updates. It is proved…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multiple agents and reference systems with decentralized…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
Decentralized control systems are widely used in a number of situations and applications. In order for these systems to function properly and achieve their desired goals, information must be propagated between agents, which requires…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…