Related papers: Fast Feedback Control over Multi-hop Wireless Netw…
The latency gap between wired and wireless networks poses a challenge in the adoption of wireless technologies in latency-sensitive scenarios. The gap is especially notable in multi-hop communication typical for industrial sensor networks…
Feedback optimization optimizes the steady state of a dynamical system by implementing optimization iterations in closed loop with the plant. It relies on online measurements and limited model information, namely, the input-output…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Modern wireless machine-to-machine-type communications aim to provide both ultra reliability and low latency, stringent requirements that appear to be mutually exclusive. From the noisy channel coding theorem, we know that reliable…
Almost sure asymptotic stabilization of a discrete-time switched stochastic system is investigated. Information on the active operation mode of the switched system is assumed to be available for control purposes only at random time…
We present the multi-hop extensions of the recently proposed energy-efficient time synchronization scheme for wireless sensor networks, which is based on the asynchronous source clock frequency recovery and reversed two-way message…
This paper develops a fast, accurate and energy-efficient time synchronization protocol in wireless sensor networks that operate in harsh environments. The suggested protocol concept is based on an electrical physical metaphor. The protocol…
In this article, we investigate the transient behavior of a sequence of packets/bits traversing a multi-hop wireless network. Our work is motivated by novel applications from the domain of process automation, Machine-Type Communication…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
A simple feedback control algorithm is presented for distributed beamforming in a wireless network. A network of wireless sensors that seek to cooperatively transmit a common message signal to a Base Station (BS) is considered. In this…
This paper introduces a method for efficiently updating a nominal stabilizing static output feedback (SOF) controller in perturbed linear systems. As operating points and state-space matrices change in dynamic systems, accommodating updates…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
Numerous applications demand communication schemes that minimize the transmission delay while achieving a given level of reliability. An extreme case is high-frequency trading whereby saving a fraction of millisecond over a route between…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Control systems over networks with a finite data rate can be conveniently modeled as hybrid (impulsive) systems. For the class of nonlinear systems in feedfoward form, we design a hybrid controller which guarantees stability, in spite of…
In this paper, we consider the effect of feedback channel error on the throughput of one-hop wireless networks under the random connection model. The transmission strategy is based on activating source-destination pairs with strongest…
Predictive Feedback Control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive Feedback Control is severely limited because asymptotic convergence speed decreases with…