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Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
We consider model order reduction of parameterized Hamiltonian systems describing nondissipative phenomena, like wave-type and transport dominated problems. The development of reduced basis methods for such models is challenged by two main…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
A law in a multiagent system is a set of constraints imposed on agents' behaviours to avoid undesirable outcomes. The paper considers two types of laws: useful laws that, if followed, completely eliminate the undesirable outcomes and…
Variational inequalities are an important mathematical tool for modelling free boundary problems that arise in different application areas. Due to the intricate nonsmooth structure of the resulting models, their analysis and optimization is…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…
This paper presents an overview of recent developments in the analysis of shapes such as curves and surfaces through Riemannian metrics. We show that several constructions of metrics on spaces of submanifolds can be unified through the…
We design a variational quantum algorithm to solve multi-dimensional Poisson equations with mixed boundary conditions that are typically required in various fields of computational science. Employing an objective function that is formulated…
Systems of interacting particles or agents have wide applications in many disciplines such as Physics, Chemistry, Biology and Economics. These systems are governed by interaction laws, which are often unknown: estimating them from…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
The development and deployment of Autonomous Vehicles (AVs) on our roads is not only realistic in the near future but can also bring significant benefits. In particular, it can potentially solve several problems relating to vehicles and…
In this paper, we address a manifold constrained nonsmooth optimization problem involving the composition of a weakly convex function and a smooth mapping under the availability of a parametrization of the manifold. To find a stationary…
We focus on a class of non-smooth optimization problems over the Stiefel manifold in the decentralized setting, where a connected network of $n$ agents cooperatively minimize a finite-sum objective function with each component being weakly…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…
This paper addresses the challenge of ensuring realistic traffic conditions by proposing a methodology that systematically identifies traffic simulation requirements. Using a structured approach based on sub-goals in each study phase,…
We consider the optimal control problem for null curves in de Sitter 3-space defined by a functional which is linear in the curvature of the trajectory. We show how techniques based on the method of moving frames and exterior differential…