Related papers: Using AoI Forecasts in Communicating and Robust Di…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
There is a trend toward the use of predictive systems in communications networks. At the systems and network management level predictive capabilities are focused on anticipating network faults and performance degradation. Simultaneously,…
This paper presents a flexible and modular control scheme based on distributed model predictive control (DMPC) to achieve optimal operation of decentralized energy systems in smart grids. The proposed approach is used to coordinate multiple…
Distributed control of large-scale systems is challenging due to the need for scalable and localized communication and computation. In this work, we introduce a Predictive System-Level Synthesis PredSLS framework that designs controllers by…
We develop a framework for communication-control co-design in a wireless networked control system with multiple geographically separated controllers and controlled systems, modeled via a Poisson point process. Each controlled system…
Discrete-time systems under aperiodic sampling may serve as a modeling abstraction for a multitude of problems arising in cyber-physical and networked control systems. Recently, model- and data-based stability conditions for such systems…
In this paper, we analyze the impact of different encoding schemes on the age of information (AoI) performance in a point-to-point system, where a source generates packets based on the status updates collected from multiple sensors and…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
We consider the problem of scheduling transmissions over low-latency wireless communication links to control various control systems. Low-latency requirements are critical in developing wireless technology for industrial control and Tactile…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…
Online feedback optimization is a controller design paradigm for optimizing the steady-state behavior of a dynamical system. It employs an optimization algorithm as a dynamic feedback controller and utilizes real-time measurements to bypass…
This paper deals with the design of scheduling policies for networked control systems whose shared networks have limited communication capacity and the controller to plant channels are vulnerable to jamming attacks. We assume that among N…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme,…
Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of…
This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…