Related papers: High Performance Distributed Control for Large-Sca…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
We consider the data-driven stabilization of discrete-time linear time-varying systems. The controller is defined as a linear state-feedback law whose gain is adapted to the plant changes through a data-based event-triggering rule. To do…
We propose a distributed data-based predictive control scheme to stabilize a network system described by linear dynamics. Agents cooperate to predict the future system evolution without knowledge of the dynamics, relying instead on learning…
This paper addresses active state estimation with a team of robotic sensors. The states to be estimated are represented by spatially distributed, uncorrelated, stationary vectors. Given a prior belief on the geographic locations of the…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
This paper proposes a new distributed finite-time differentiator (DFD) for multi-agent systems (MAS) under directed graph, which extends the differentiator algorithm from the centralized case to the distributed case by only using…
This paper presents a distributed Koopman operator learning framework for modeling unknown nonlinear dynamics using sequential observations from multiple agents. Each agent estimates a local Koopman approximation based on lifted data and…
The management of distributed and heterogeneous modern power networks necessitates the deployment of communication links, often characterized by limited bandwidth. This paper presents an event detection mechanism that significantly reduces…
This paper investigates the synthesis of distributed economic control algorithms under which dynamically coupled physical systems are regulated to a variational equilibrium of a constrained convex game. We study two complementary cases: (i)…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
The problem of leak detection in a pipeline with nonlinear friction is considered. A distributed observer-based method is proposed which applies a linearised, distributed adaptive observer design to the nonlinear model. The methodology is…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…
Monitoring distributed systems to ensure their correctness is a challenging and expensive but essential problem. It is challenging because while execution of a distributed system creates a partial order among events, the monitor will…