Related papers: Distributed control under compromised measurements…
We address the multi-agent persistent monitoring problem defined on a set of nodes (targets) interconnected over a network topology. A measure of mean overall node state uncertainty evaluated over a finite period is to be minimized by…
This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded.…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
Sequential attack detection in a distributed estimation system is considered, where each sensor successively produces one-bit quantized samples of a desired deterministic scalar parameter corrupted by additive noise. The unknown parameters…
This paper proposes a novel framework for the distributionally robust input and state estimation (DRISE) for autonomous vehicles operating under model uncertainties and measurement outliers. The proposed framework improves the input and…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
In this paper, a distributed Model Predictive Control strategy is developed for a multi zone building plant with disturbances. The control objective is to maintain each zones temperature at a specified level with the minimum cost of the…
Single fault sequential change point problems have become important in modeling for various phenomena in large distributed systems, such as sensor networks. But such systems in many situations present multiple interacting faults. For…
In this paper, we present a novel distributed state estimation approach in networked DC microgrids to detect the false data injection in the microgrid control network. Each microgrid monitored by a distributed state estimator will detect if…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
Failure detection is a fundamental building block for ensuring fault tolerance in large scale distributed systems. There are lots of approaches and implementations in failure detectors. Providing flexible failure detection in off-the-shelf…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
In this paper, we study stateless and stateful physics-based anomaly detection scenarios via distributed estimation over sensor networks. In the stateful case, the detector keeps track of the sensor residuals (i.e., the difference of…
In this paper, we consider a general distributed estimation problem in relay-assisted sensor networks by taking into account time-varying asymmetric communications, fading channels and intermittent measurements. Motivated by centralized…
Attack detection problems in the smart grid are posed as statistical learning problems for different attack scenarios in which the measurements are observed in batch or online settings. In this approach, machine learning algorithms are used…
Distributed implementations of access control abound in distributed storage protocols. While such implementations are often accompanied by informal justifications of their correctness, our formal analysis reveals that their correctness can…
In this paper, we study the problem of parameter estimation in a sensor network, where the measurements and updates of some sensors might be arbitrarily manipulated by adversaries. Despite the presence of such misbehaviors, normally…