Related papers: Consensus-driven Deviated Pursuit for Guaranteed S…
Consensus is one of the most fundamental problems in distributed computing. This paper studies the consensus problem in a synchronous dynamic directed network, in which communication is controlled by an oblivious message adversary. The…
This paper addresses the distributed consensus problem in the presence of faulty nodes. A novel weight learning algorithm is introduced such that neither network connectivity nor a sequence of history records is required to achieve…
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particularly due to inherent closed-chain constraints. This paper…
To enable multiple missiles to attack a maneuvering target simultaneously, fixed-time distributed cooperative guidance laws are proposed in this paper. Here, we present a novel fixed-time fast nonsingular terminal sliding mode surface…
We consider decentralized optimization problems where one aims to minimize a sum of convex smooth objective functions distributed between nodes in the network. The links in the network can change from time to time. For the setting when the…
Accurate prediction of pedestrian trajectories is crucial for improving the safety of autonomous driving. However, this task is generally nontrivial due to the inherent stochasticity of human motion, which naturally requires the predictor…
This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delay-free communication, the algorithm of interest achieves a practical…
To enhance the evacuation efficiency in partially observable asymmetric-exit evacuation under guidance, a general framework of the dynamic guiding assistant system is presented to investigate the effect of density control. In this…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
In this paper, we study the discrete-time consensus problem over networks with antagonistic and cooperative interactions. Following the work by Altafini [IEEE Trans. Automatic Control, 58 (2013), pp. 935--946], by an antagonistic…
This paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…
The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
This paper addresses the estimation of a time- varying parameter in a network. A group of agents sequentially receive noisy signals about the parameter (or moving target), which does not follow any particular dynamics. The parameter is not…
Achieving consensus among noncooperative agents remains challenging in decentralized multi-agent systems, where agents often have conflicting preferences. Existing coordination methods enable agents to reach consensus without a centralized…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
In this paper, we aim to design the optimal sensor collaboration strategy for the estimation of time-varying parameters, where collaboration refers to the act of sharing measurements with neighboring sensors prior to transmission to a…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
In this paper, two cooperative guidance laws based on the area around the target of multiattackers are designed to deal with the problem of cooperative encirclement or simultaneous attack in the case of known target acceleration and unknown…
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…