Related papers: Consensus-driven Deviated Pursuit for Guaranteed S…
This review examines intermittent target search strategies, which combine phases of slow motion, allowing the searcher to detect the target, and phases of fast motion during which targets cannot be detected. We first show that intermittent…
In this paper a new distributed asynchronous algorithm is proposed for time synchronization in networks with random communication delays, measurement noise and communication dropouts. Three different types of the drift correction algorithm…
Guidance provides a simple and effective framework for posterior sampling by steering the generation process towards the desired distribution. When modeling discrete data, existing approaches mostly focus on guidance with the first-order…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
This paper presents a Bayesian framework for inferring the posterior of the augmented state of a target, incorporating its underlying goal or intent, such as any intermediate waypoints and/or the final destination. Thus, it is for joint…
We propose an algorithm for average consensus over a directed graph which is both fully asynchronous and robust to unreliable communications. We show its convergence to the average, while allowing for slowly growing but potentially…
Motion correlation interfaces are those that present targets moving in different patterns, which the user can select by matching their motion. In this paper, we re-formulate the task of target selection as a probabilistic inference problem.…
We consider the weight design problem for the consensus algorithm under a finite time horizon. We assume that the underlying network is random where the links fail at each iteration with certain probability and the link failures can be…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
This paper studies the continuous-time distributed optimization of a sum of convex functions over directed graphs. Contrary to what is known in the consensus literature, where the same dynamics works for both undirected and directed…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
For the case where the dependency digraph has no spanning in-tree, we characterize the region of convergence of the basic continuous-time distributed consensus algorithm and show that consensus can be achieved by employing the method of…
We address the problem of distributed uncon- strained convex optimization under separability assumptions, i.e., the framework where each agent of a network is endowed with a local private multidimensional convex cost, is subject to…
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…
This paper considers the gain-scheduled leader-follower tracking control problem for a parameter varying complex interconnected system with directed communication topology and uncertain norm-bounded coupling between the agents. A…
This paper proposes a metric for sets of trajectories to evaluate multi-object tracking algorithms that includes time-weighted costs for localisation errors of properly detected targets, for false targets, missed targets and track switches.…
This paper addresses the problem of real-time detection and tracking of a non-cooperative target in the challenging scenario with almost no a-priori information about target birth, death, dynamics and detection probability. Furthermore,…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
In this paper, we propose an approximate projected consensus algorithm for a network to cooperatively compute the intersection of convex sets. Instead of assuming the exact convex projection proposed in the literature, we allow each node to…