Related papers: Cooperative Target Capture using Predefined-time C…
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…
Consensus is a most fundamental task in distributed computing. This paper studies the consensus problem for a set of processes connected by a dynamic directed network, in which computation and communication is lock-step synchronous but…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
In this paper, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multi-agent systems with bounded input disturbances are studied, respectively. Firstly, a…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
This paper proposes prediction-and-sensing based spectrum sharing, a new spectrum-sharing model for cognitive radio networks, with a time structure for each resource block divided into a spectrum prediction-and-sensing phase and a data…
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper investigates the fixed-time consensus problem for a class of multi-agent systems with simple dynamics. Unlike the traditional way to realize fixed-time convergence, a novel strategy using the property of periodic functions is…
Classical approaches for asymptotic convergence to the global average in a distributed fashion typically assume timely and reliable exchange of information between neighboring components of a given multi-component system. These assumptions…
This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…
This paper considers a localized data-driven consensus problem for leader-follower multi-agent systems with unknown discrete-time agent dynamics, where each follower computes its local control gain using only their locally collected state…
Cooperative guidance of multiple missiles is a challenging task with rigorous constraints of time and space consensus, especially when attacking dynamic targets. In this paper, the cooperative guidance task is described as a distributed…
We present a general framework for improving and extending GNSS-based positioning by leveraging opportunistic measurements from legacy terrestrial radio signals. The proposed approach requires only that participating nodes collect and share…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…