Related papers: Real-time Distributed MPC for Multiple Underwater …
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
We propose and analyse a model predictive control (MPC) strategy tailored for networks of underwater agents tasked with maintaining formation while following a shared path and using acoustic communication channels. The strategy accommodates…
The application of distributed model predictive controllers (DMPC) for multi-agent systems (MASs) necessitates communication between agents, yet the consequence of communication data rates is typically overlooked. This work focuses on…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
Accurate tracking of underwater acoustic sources is critical for a variety of marine applications, yet remains a challenging task due to communication constraints and environmental uncertainties. In this regard, this paper addresses the…
Advancements in underwater vehicle technology have significantly expanded the potential scope for deploying autonomous or remotely operated underwater vehicles in novel practical applications. However, the efficiency and maneuverability of…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
Distributed optimization finds many applications in machine learning, signal processing, and control systems. In these real-world applications, the constraints of communication networks, particularly limited bandwidth, necessitate…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
We propose a scalable, distributed algorithm for the optimal transport of large-scale multi-agent systems. We formulate the problem as one of steering the collective towards a target probability measure while minimizing the total cost of…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
We consider the problem of solving a distributed optimization problem using a distributed computing platform, where the communication in the network is limited: each node can only communicate with its neighbours and the channel has a…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
In this paper, we study unconstrained distributed optimization strongly convex problems, in which the exchange of information in the network is captured by a directed graph topology over digital channels that have limited capacity (and…