Related papers: Real-time Distributed MPC for Multiple Underwater …
In the shipping digitalisation process, the peak will be reached with the advent of a wholly autonomous and at the same time safe and reliable ship. Full autonomy could be obtained by two linked Artificial-Intelligence systems representing…
We address the problem of sparsity-promoting optimal control of cyber-physical systems (CPSs) in the presence of communication delays. The delays are categorized into two types - namely, an inter-layer delay for passing state and control…
Min-max problems are important in multi-agent sequential decision-making because they improve the performance of the worst-performing agent in the network. However, solving the multi-agent min-max problem is challenging. We propose a…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
The control of large-scale cyber-physical systems requires optimal distributed policies relying solely on limited communication with neighboring agents. However, computing stabilizing controllers for nonlinear systems while optimizing…
Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…
In networks of autonomous agents (e.g., fleets of vehicles, scattered sensors), the problem of minimizing the sum of the agents' local functions has received a lot of interest. We tackle here this distributed optimization problem in the…
Navigation is a very crucial aspect of autonomous vehicle ecosystem which heavily relies on collecting and processing large amounts of data in various states and taking a confident and safe decision to define the next vehicle maneuver. In…
This paper introduces a comprehensive strategy that integrates traffic perimeter control with traffic signal control to alleviate congestion in an urban traffic network (UTN). The strategy is formulated as a lexicographic multi-objective…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
This letter presents a sensing-communication-computing-control (SC3) integrated satellite unmanned aerial vehicle (UAV) network, where the UAV is equipped with on-board sensors, mobile edge computing (MEC) servers, base stations and…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
Autonomous vehicles usually consume a large amount of computational power for their operations, especially for the tasks of sensing and perception with artificial intelligence algorithms. Such a computation may not only cost a significant…
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
This note is devoted to the distributed optimization problem of multi-agent systems with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. Two distributed constrained algorithms with nonconvex…