Related papers: Distributed Event- and Self-Triggered Coverage Con…

This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…

We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…

For an autonomous linear time-invariant (LTI) system, a distributed observer with time-triggered periodic observations and event-triggered communication is proposed to estimate the state of the system. It is shown that the sampling period…

We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for…

A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…

Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…

This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem…

In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…

In this paper, we study the problem of spectrum scarcity in a network of unmanned aerial vehicles (UAVs) during mission-critical applications such as disaster monitoring and public safety missions, where the pre-allocated spectrum is not…

In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…

This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…

The increasing deployment of end use power resources in distribution systems created active distribution systems. Uncontrolled active distribution systems exhibit wide variations of voltage and loading throughout the day as some of these…

We propose a self-triggered control algorithm to reduce onboard processor usage, communication bandwidth, and energy consumption across a linear time-invariant networked control system. We formulate an optimal control problem by penalizing…

Event-triggered control provides a mechanism for avoiding excessive use of constrained communication bandwidth in networked multi-agent systems. However, most existing methods rely on accurate system models, which may be unavailable in…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…

Unmanned Aerial Vehicle (UAV) networks have emerged as a promising technique to rapidly provide wireless coverage to a geographical area, where a flying UAV can be fast deployed to serve as cell site. Existing work on UAV-enabled wireless…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

Multi-access edge computing (MEC) is regarded as a promising technology in the sixth-generation communication. However, the antenna gain is always affected by the environment when unmanned aerial vehicles (UAVs) are served as MEC platforms,…