Related papers: Decentralized Secure State-Tracking in Multi-Agent…

This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…

Smart grid's objective is to enable electricity and information to flow two-way while providing effective, robust, computerized, and decentralized energy delivery. This necessitates the use of state estimation-based techniques and real-time…

We consider the problem of estimating the state of a noisy linear dynamical system when an unknown subset of sensors is arbitrarily corrupted by an adversary. We propose a secure state estimation algorithm, and derive (optimal) bounds on…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…

We consider decentralized optimization problems in which a number of agents collaborate to minimize the average of their local functions by exchanging over an underlying communication graph. Specifically, we place ourselves in an…

We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some…

Motivated by recent security issues in cyber-physical systems, this technical note studies the stabilization problem of networked control systems under Denial-of-Service (DoS) attacks. In particular, we consider to stabilize a nonlinear…

In this paper we propose an approach to the implementation of controllers with decentralized strategies triggering controller updates. We consider set-ups with a central node in charge of the computation of the control commands, and a set…

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…

In this paper, we consider a discrete memoryless point to point channel with noisy feedback, where there is a sender with a private message that she wants to communicate to a receiver by sequentially transmitting symbols over a noisy…

In this paper, we investigate state estimation and opacity verification problems within a decentralized observation architecture. Specifically, we consider a discrete event system whose behavior is recorded by a set of observation sites.…

Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…

This paper addresses the problem of resilient state estimation and attack reconstruction for bounded-error nonlinear discrete-time systems with nonlinear observations/ constraints, where both sensors and actuators can be compromised by…

We address the problem of estimating the state of a differentially flat system from measurements that may be corrupted by an adversarial attack. In cyber-physical systems, malicious attacks can directly compromise the system's sensors or…

In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a…

Decentralized control systems are widely used in a number of situations and applications. In order for these systems to function properly and achieve their desired goals, information must be propagated between agents, which requires…

Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…

Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…

In this paper, we study the problem of consensus-based distributed optimization where a network of agents, abstracted as a directed graph, aims to minimize the sum of all agents' cost functions collaboratively. In existing distributed…