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This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
We consider a scenario in which leaders are required to recruit teams of followers. Each leader cannot recruit all followers, but interaction is constrained according to a bipartite network. The objective for each leader is to reach a state…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
One of the significant problem in peer-to-peer databases is collision problem. These databases do not rely on a central leader that is a reason to increase scalability and fault tolerance. Utilizing these systems in high throughput…
We study the problem of multi-agent control of a dynamical system with known dynamics and adversarial disturbances. Our study focuses on optimal control without centralized precomputed policies, but rather with adaptive control policies for…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Unmanned aerial vehicle (UAV) swarms are increasingly used in critical applications such as aerial mapping, environmental monitoring, and autonomous delivery. However, the reliability of these systems is highly dependent on uninterrupted…
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to…
The threats on cyber-physical system have changed much into a level of sophistication that elude the traditional security and protection methods. This work addresses a proactive approaches to the cyber security of a formation flying UAVs. A…
In this paper, we formulate and solve a randomized optimal consensus problem for multi-agent systems with stochastically time-varying interconnection topology. The considered multi-agent system with a simple randomized iterating rule…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…