Related papers: Distributed Coverage Control of Multi-Agent System…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
This paper introduces a novel concept for addressing non-convexity in the cost functions of distributed economic model predictive control (DEMPC) systems. Specifically, the proposed algorithm enables agents to self-organize into a hierarchy…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this paper, a class of large-scale distributed nonsmooth convex optimization problem over time-varying multi-agent network is investigated. Specifically, the decision space which can be split into several blocks of convex set is…
In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
A multi-agent coverage problem is considered with energy-constrained agents. The objective of this paper is to compare the coverage performance between centralized and decentralized approaches. To this end, a near-optimal centralized…
In this paper, the distributed resource allocation optimization problem is investigated. The allocation decisions are made to minimize the sum of all the agents' local objective functions while satisfying both the global network resource…
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…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
This paper proposes and analyzes a communication-efficient distributed optimization framework for general nonconvex nonsmooth signal processing and machine learning problems under an asynchronous protocol. At each iteration, worker machines…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
This paper proposes a multiagent based bi-level operation framework for the low-carbon demand management in distribution networks considering the carbon emission allowance on the demand side. In the upper level, the aggregate load agents…
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…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…