Related papers: Decentralized Observer Design for Virtual Decompos…
To achieve higher coding efficiency, Versatile Video Coding (VVC) includes several novel components, but at the expense of increasing decoder computational complexity. These technologies at a low bit rate often create contouring and ringing…
This paper proposes a distributed design method of controllers having a glocal (global/local) information structure for large-scale network systems. Distributed design, independent design of all subcontrollers that constitute a structured…
With the continuous improvement in the computational capabilities of edge devices such as intelligent sensors in the Industrial Internet of Things, these sensors are no longer limited to mere data collection but are increasingly capable of…
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
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…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
We employ a novel data-enabled predictive control (DeePC) algorithm in voltage source converter (VSC) based high-voltage DC (HVDC) stations to perform safe and optimal wide-area control for power system oscillation damping. Conventional…
Various Vision Transformer (ViT) models have been widely used for image recognition tasks. However, existing visual explanation methods can not display the attention flow hidden inside the inner structure of ViT models, which explains how…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
The focus of this paper is on solving multi-robot planning problems in continuous spaces with partial observability. Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for multi-robot coordination…
Video block compressive sensing has been studied for use in resource constrained scenarios, such as wireless sensor networks, but the approach still suffers from low performance and long reconstruction time. Inspired by classical…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
In this paper we address the problem of sensorless control of the 1-DOF magnetic levitation system. Assuming that only the current and the voltage are measurable, we design an adaptive state observer using the technique of signal injection.…
Prior work on perceptual effectiveness has decomposed visualizations into smaller common units (e.g., channels such as angle, position, and length) to establish rankings. While useful, these decompositions lack the computational structure…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…