Related papers: Consensus-driven Deviated Pursuit for Guaranteed S…
This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
This paper studies non-trivial consensus--a relatively novel and unexplored convergence behavior--on directed signed matrix-weighted networks subject to both additive and multiplicative measurement noises under time-varying topologies.…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This thesis represents a culmination of work and learning that has taken place over a period of almost three years (2007 - 2010) at the University of Salerno, and at the University of Connecticut. It is mostly an unified mathematical…
This paper studies consensus of discrete-time multi-agent systems under time-varying directed communication, state and input constraints using a distributed multi-step model predictive control (MPC) framework. Consensus is recast as…
Predicting temporally consistent road users' trajectories in a multi-agent setting is a challenging task due to unknown characteristics of agents and their varying intentions. Besides using semantic map information and modeling…
Goal-oriented communication is a new paradigm that considers the meaning of transmitted information to optimize communication. One possible application is the remote monitoring of a process under communication costs: scheduling updates…
We propose a distributed (single) target tracking scheme based on networked estimation and consensus algorithms over static sensor networks. The tracking part is based on linear time-difference-of-arrival (TDOA) measurement proposed in our…
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…
Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel trajectory optimization (CPTO) approach to enable safe and…
We propose an adaptive control strategy for the simultaneous estimation of topology and synchronization in complex dynamical networks with unknown, time-varying topology. Our approach transforms the problem of time-varying topology…
To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…
This paper presents a novel accelerated distributed algorithm for unconstrained consensus optimization over static undirected networks. The proposed algorithm combines the benefits of acceleration from momentum, the robustness of the…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…