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By spreading phases on the unit circle, desynchronization algorithm is a powerful tool to achieve round-robin scheduling, which is crucial in applications as diverse as media access control of communication networks, realization of…
Clock synchronization is a widely discussed topic in the engineering literature. Ensuring that individual clocks are closely aligned is important in network systems, since the correct timing of various events in a network is usually…
Populations of flashing fireflies, claps of applauding audience, cells of cardiac and circadian pacemakers reach synchrony via event-triggered interactions, referred to as pulse couplings. Synchronization via pulse coupling is widely used…
Consider a distributed network on a finite simple graph $G=(V,E)$ with diameter $d$ and maximum degree $\Delta$, where each node has a phase oscillator revolving on $S^{1}=\mathbb{R}/\mathbb{Z}$ with unit speed. Pulse-coupling is a class of…
The control of network-coupled nonlinear dynamical systems is an active area of research in the nonlinear science community. Coupled oscillator networks represent a particularly important family of nonlinear systems, with applications…
Driven by increased applications in biological networks and wireless sensor networks, synchronization of pulse-coupled oscillators (PCOs) has gained increased popularity. However, most existing results address the local synchronization of…
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…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
The control of complex systems and network-coupled dynamical systems is a topic of vital theoretical importance in mathematics and physics with a wide range of applications in engineering and various other sciences. Motivated by recent…
We introduce a system of pulse coupled oscillators that can change both their phases and frequencies; and prove that when there is a separation of time scales between phase and frequency adjustment the system converges to exact synchrony on…
We develop a theory of continuous decoupling with bounded controls from a geometric perspective. Continuous decoupling with bounded controls can accomplish the same decoupling effect as the bang-bang control while using realistic control…
Ensembles of phase-oscillators are known to exhibit a variety of collective regimes. Here, we show that a simple mean-field model involving two heterogenous populations of pulse-coupled oscillators, exhibits, in the strong-coupling limit, a…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
In Evolutionary Robotics, evolutionary algorithms are used to co-optimize morphology and control. However, co-optimizing leads to different challenges: How do you optimize a controller for a body that often changes its number of inputs and…
Many network applications rely on the synchronization of coupled oscillators. For example, such synchronization can provide networked devices with a common temporal reference necessary for coordinating actions or decoding transmitted…
Pulse-coupled threshold units serve as paradigmatic models for a wide range of complex systems. When the state variable of a unit crosses a threshold, the unit sends a pulse that is received by other units, thereby mediating the…
We study control of synchronization in weakly coupled oscillator networks by using a phase reduction approach. Starting from a general class of limit cycle oscillators we derive a phase model, which shows that delayed feedback control…
We present a self-organising, decentralised control method for material flows in networks. The concept applies to networks where time sharing mechanisms between conflicting flows in nodes are required and where a coordination of these local…
This work provides new insights on the convergence of a locally connected network of pulse coupled oscillator (PCOs) (i.e., a bio-inspired model for communication networks) to synchronous and desynchronous states, and their implication in…