Related papers: Exploiting Over-The-Air Consensus for Collision Av…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
This paper considers over-the-air federated learning (OTA-FL). OTA-FL exploits the superposition property of the wireless medium, and performs model aggregation over the air for free. Thus, it can greatly reduce the communication cost…
This article presents a new technique for suboptimal consensus protocol design for a class of multiagent systems. The technique is based upon the extension of newly developed sufficient conditions for suboptimal linear-quadratic optimal…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Effective solutions for intelligent data collection in terrestrial cellular networks are crucial, especially in the context of Internet of Things applications. The limited spectrum and coverage area of terrestrial base stations pose…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
Over the air computation (AirComp) is a promising technique that addresses big data collection and fast wireless data aggregation. However, in a network where wireless communication and AirComp coexist, mutual interference becomes a…
Shared autonomy is an enabling technology that provides users with control authority over robots that would otherwise be difficult if not impossible to directly control. Yet, standard methods make assumptions that limit their adoption in…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
This paper focuses on the optimal coverage problem (OCP) for multi-agent systems with a decentralized optimization mechanism. A game based distributed decision-making method for the multi-agent OCP is proposed to address the high…
In this paper, the behavior of scalar multi-agent systems over networks subject to time-driven jumps. Assuming that all agents communicate through distinct communication digraphs at jump and flow times, the asymptotic multi-consensus…
An open multi-agent system (OMAS) features migrating agents which produce a flexible network that is naturally switching and size-varying. Meanwhile, agent migrations also make an OMAS prone to environmental adversities. In this work, we…
The topic of this paper is achieving finite-time max-consensus in a multi-agent system that communicates over a fading wireless channel and exploits its interference property. This phenomenon corrupts the desired information when data is…
A theorem on (partial) convergence to consensus of multiagent systems is presented. It is proven with tools studying the convergence properties of products of row stochastic matrices with positive diagonals which are infinite to the left.…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
Collective behaviors such as swarming and flocking emerge from simple, decentralized interactions in biological systems. Existing models, such as Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber model imposes…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…