Related papers: Tracking Control foe Multi-Agent Systems Using Bro…
In this paper, we propose a new self-triggered formulation of Model Predictive Control for continuous-time linear networked control systems. Our control approach, which aims at reducing the number of transmitting control samples to the…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
In a multi-agent system, agents coordinate to achieve global tasks through local communications. Coordination usually requires sufficient information flow, which is usually depicted by the connectivity of the communication network. In a…
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent…
This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the…
This paper addresses tracking of a moving target in a multi-agent network. The target follows a linear dynamics corrupted by an adversarial noise, i.e., the noise is not generated from a statistical distribution. The location of the target…
We propose a fully decentralized multi-agent world model that enables both symbol emergence for communication and coordinated behavior through temporal extension of collective predictive coding. Unlike previous research that focuses on…
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…
This paper is concerned with the problem of designing agents able to dynamically select information from multiple data sources in order to tackle tasks that involve tracking a target behavior while optimizing a reward. We formulate this…
Collaborative decision making in multi-agent systems typically requires a predefined communication protocol among agents. Usually, agent-level observations are locally processed and information is exchanged using the predefined protocol,…
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, approximate optimal controllers for distributed multi-agent…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
Decentralized stochastic control refers to the multi-stage optimization of a dynamical system by multiple controllers that have access to different information. Decentralization of information gives rise to new conceptual challenges that…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…