Related papers: Real-time Distributed MPC for Multiple Underwater …
This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
Distributed optimization problems have received much attention due to their privacy preservation, parallel computation, less communication, and strong robustness. This paper presents and studies the time-varying distributed optimization…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
Next-generation Unmanned Aerial Vehicle (UAV) communication networks must maintain reliable connectivity under rapid topology changes, fluctuating link quality, and time-critical data exchange. Existing topology control methods rely on…
This study presents a simulation model for underwater 6G networks, focusing on the optimized placement of sensors, AUVs, and hubs. The network architecture consists of fixed hub stations, mobile autonomous underwater vehicles (AUVs), and…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
In this paper, a novel distributed optimization framework has been proposed. The key idea is to convert optimization problems into optimal control problems where the objective of each agent is to design the current control input minimizing…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
This article reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including…
This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…
This study introduces a connective model of routing -- local path planning for Autonomous Underwater Vehicle (AUV) time efficient maneuver in long-range operations. Assuming the vehicle operating in a turbulent underwater environment, the…
This paper introduces a new approach that leverages Multi-agent Bayesian Optimization (MABO) to design Distributed Model Predictive Control (DMPC) schemes for multi-agent systems. The primary objective is to learn optimal DMPC schemes even…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Resource allocation is a fundamental problem in Industrial Internet of Things (IIoT) systems, in which devices work together under limited communication bandwidth to complete diverse tasks. This paper proposes a communication-efficient…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
Underwater imagery has enabled numerous civilian applications in various domains, ranging from academia to industry, and from industrial surveillance and maintenance to environmental protection and behavior of marine creatures studies. The…
This paper proposes a multi-scale method to design a continuous-time distributed algorithm for constrained convex optimization problems by using multi-agents with Markov switched network dynamics and noisy inter-agent communications. Unlike…