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The collective behavior of biological oscillators has been recognized as an important problem for several decades, but its control has come into limelight only recently. Much of the focus for control has been on desynchronization of an…
In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…
In this technical note, we propose a practicable quantized sampled velocity data coupling protocol for synchronization of a set of harmonic oscillators. The coupling protocol is designed in a quantized way via interconnecting the velocities…
Pulse-coupled systems such as spiking neural networks exhibit nontrivial invariant sets in the form of attracting yet unstable saddle periodic orbits where units are synchronized into groups. Heteroclinic connections between such orbits may…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
In this project we evaluate a framework for synchronization of mixed machine-converter power grids. Synchronous machines are assumed to be actuated by mechanical torque injections, while the converters by DC-side current injections. As this…
We study synchronization in delay-coupled oscillator networks, using a master stability function approach. Within a generic model of Stuart-Landau oscillators (normal form of super- or subcritical Hopf bifurcation) we derive analytical…
We analyze the collective behavior of a lattice model of pulse-coupled oscillators. By means of computer simulations we find the relation between the intrinsic dynamics of each member of the population and their mutual interaction that…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
In this article I investigate the novel synchronization behaviors of evolving pulse-coupled oscillator networks. Unlike previous models, the time-varying mechanism is inspired by neural network development, where seldom used links die out…
Two recent developments in quantum control, concatenation and optimization of pulse intervals, are combined to yield a strategy to suppress unwanted couplings in quantum systems to high order. Longitudinal relaxation and transverse…
We show that a large class of pulse coupled oscillators converge with high probability from random initial conditions on a large class of graphs with time delays. Our analysis combines previous local convergence results, probabilistic…
In this work, we explore a new approach to synchronization of coupled oscillators. In contrast to the celebrated Kuramoto model we do not work in polar coordinates and do not consider oscillations of fixed magnitude. We propose a…
Building oscillator based computing systems with emerging nano-device technologies has become a promising solution for unconventional computing tasks like computer vision and pattern recognition. However, simulation and analysis of these…
This paper presents a nonlinear control framework for steering networks of coupled oscillators toward desired phase-locked configurations. Inspired by brain dynamics, where structured phase differences support cognitive functions, the focus…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
In-phase synchronization is a special case of synchronous behavior when coupled oscillators have the same phases for any time moments. Such behavior appears naturally for nearly identical coupled limit-cycle oscillators when the coupling…