Related papers: Arbitrarily Fast Switched Distributed Stabilizatio…
We present an architecture for ad hoc teamwork, which refers to collaboration in a team of agents without prior coordination. State of the art methods for this problem often include a data-driven component that uses a long history of prior…
Autonomous agents are increasingly deployed in both offensive and defensive cyber operations, creating high-speed, closed-loop interactions in critical infrastructure environments. Advanced Persistent Threat (APT) actors exploit "Living off…
This paper studies novel attack and defense strategies, based on a class of stealthy attacks, namely the zero-dynamics attack (ZDA), for multi-agent control systems. ZDA poses a formidable security challenge since its attack signal is…
Symbolic models have recently spurred the interest of the research community because they offer a correct-by-design approach to the control of embedded and cyber-physical systems. In this paper we address construction of symbolic models for…
We study the problem of resilient consensus of sampled-data multi-agent networks with double-integrator dynamics. The term resilient points to algorithms considering the presence of attacks by faulty/malicious agents in the network. Each…
In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…
We advocate the development of a discipline of interacting with and extracting information from models, both mathematical (e.g. game-theoretic ones) and computational (e.g. agent-based models). We outline some directions for the development…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
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…
Although adverse effects of attacks have been acknowledged in many cyber-physical systems, there is no system-theoretic comprehension of how a compromised agent can leverage communication capabilities to maximize the damage in distributed…
This work studies how to preemptively increase the resilience of a network by means of time-varying topological actuation. To do this, we focus on linear dynamical systems that are compatible with a given network, and consider policies that…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
In a world of ever-increasing systems interdependence, effective cybersecurity policy design seems to be one of the most critically understudied elements of our national security strategy. Enterprise cyber technologies are often implemented…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
This paper proposes networked dynamics to solve resource allocation problems over time-varying multi-agent networks. The state of each agent represents the amount of used resources (or produced utilities) while the total amount of resources…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
This paper develops a control-theoretic framework for analyzing agentic systems embedded within feedback control loops, where an AI agent may adapt controller parameters, select among control strategies, invoke external tools, reconfigure…
In this paper, distributed energy management of interconnected microgrids, which is stated as a dynamic economic dispatch problem, is studied. Since the distributed approach requires cooperation of all local controllers, when some of them…