Related papers: Supervisory Control of Multi-Agent Discrete-Event …
We introduce a kind of partial observability to the projective simulation (PS) learning method. It is done by adding a belief projection operator and an observability parameter to the original framework of the efficiency of the PS model. I…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
In the context of networked discrete-event systems (DESs), communication delays and losses exist between the plant and the supervisor for observation and between the supervisor and the actuator for control. In this paper, we first introduce…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
It poses technical difficulty to achieve stable tracking even for single mismatched nonlinear strict-feedback systems when intermittent state feedback is utilized. The underlying problem becomes even more complicated if such systems are…
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…
In decentralized systems, branching behaviors naturally arise due to communication, unmodeled dynamics and system abstraction, which can not be adequately captured by the traditional sequencing-based language equivalence. As a finer…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
SCADA (Supervisory Control and Data Acquisition) is concerned with gathering process information from industrial control processes found in utilities such as power grids, water networks, transportation, manufacturing, etc., to provide the…
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…
An information agent is viewed as a deductive database consisting of 3 parts: an observation database containing the facts the agent has observed or sensed from its surrounding environment, an input database containing the information the…
This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
Neural networks (NNs) have been shown to learn complex control laws successfully, often with performance advantages or decreased computational cost compared to alternative methods. Neural network controllers (NNCs) are, however, highly…
This work presents a rigorous analysis of the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and propose a mitigation approach for attacks on sensors and actuators. First, we show how an attack…
Dynamical systems across many disciplines are modeled as interacting particles or agents, with interaction rules that depend on a very small number of variables (e.g. pairwise distances, pairwise differences of phases, etc...), functions of…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…
We present an algorithm for synthesising a controller (supervisor) for a discrete event system (DES) based on the property-directed reachability (PDR) model checking algorithm. The discrete event systems framework is useful in both…