Related papers: Protocol selection for second-order consensus agai…
We study the problem of asymptotic consensus as it occurs in a wide range of applications in both man-made and natural systems. In particular, we study systems with directed communication graphs that may change over time. We recently…
This paper investigates a decentralized design approach of leader-following consensus protocols for heterogeneous multiagent systems under a fixed communication topology with a directed spanning tree (DST) and asymmetric weight matrix.…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
We study second order consensus dynamics with random additive disturbances. We investigate three different performance measures: the steady-state variance of pairwise differences between vertex states, the steady-state variance of the…
In this paper, we investigate the performance of incremental redundancy combining as a new cooperative relaying protocol for large M2M networks with opportunistic relaying. The nodes in the large M2M network are modeled by a Poisson Point…
We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
In this paper, we analyze asymptotic delay-throughput trade-offs in mobile ad-hoc networks comprising heterogeneous nodes with restricted mobility. We show that node spatial heterogeneity has the ability to drastically improve upon existing…
This paper studies a 2-class, 2-server parallel server system under the recently introduced extended heavy traffic condition, which states that the underlying 'static allocation' linear program (LP) is critical, but does not require that it…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
We consider the problem of achieving average consensus among multiple agents, where the inter-agent communication network is depicted by a graph. We consider the discrete-time consensus protocol where each agent updates its value as a…
This paper addresses the decentralized non-uniform area coverage problem for multi-agent systems, a critical task in missions with high spatial priority and resource constraints. While existing density-based methods often rely on…
This paper presents an AI-augmented decentralized framework for multi-agent (multi-robot) environmental mapping under limited sensing and communication. While conventional coverage formulations achieve effective spatial allocation when an…
The consensus over multi-agent networks can be accelerated by introducing agent's memory to the control protocol. In this paper, a more general protocol with the node memory and the state deviation memory is designed. We aim to provide the…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
In time-limited model order reduction, a reduced-order approximation of the original high-order model is obtained that accurately approximates the original model within the desired limited time interval. Accuracy outside that time interval…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
It has been shown that it is impossible to achieve both stringent end-to-end deadline and reliability guarantees in a large network without having complete information of all future packet arrivals. In order to maintain desirable…
Efficient management of heterogeneous traffic with varying priorities is critical in Wireless Body Area Networks (WBANs). The priority mechanisms embedded in Media Access Control (MAC) schemes largely govern the performance of WBAN in terms…
In this paper, a two-stage intelligent scheduler is proposed to minimize the packet-level delay jitter while guaranteeing delay bound. Firstly, Lyapunov technology is employed to transform the delay-violation constraint into a sequential…