Related papers: Formation Under Communication Constraints: Control…
This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…
One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
Several aspects of the problem of asynchronous point-to-point communication without feedback are developed when the source is highly intermittent. In the system model of interest, the codeword is transmitted at a random time within a…
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…
Molecular communication is set to play an important role in the design of complex biological and chemical systems. An important class of molecular communication systems is based on the timing channel, where information is encoded in the…
We study the problem of controlling the interference created to an external observer by a communication processes. We model the interference in terms of its type (empirical distribution), and we analyze the consequences of placing…
This paper establishes the capacity region of a class of broadcast channels with random state in which each channel component is selected from two possible functions and each receiver knows its state sequence. This channel model does not…
Due to the short and bursty incoming messages, channel access activities in a wireless random access system are often fractional. The lack of frequent data support consequently makes it difficult for the receiver to estimate and track the…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
We focus our attention on the most common scenario in networked control systems where the measured output from the observer is transmitted via a communication channel to the controller. Using information theoretic results, we studied the…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
Feedback control actively dissipates uncertainty from a dynamical system by means of actuation. We develop a notion of "control capacity" that gives a fundamental limit (in bits) on the rate at which a controller can dissipate the…
Like other social animals and biological systems, human groups constantly exchange information. Network models provide a way of quantifying this process by representing the pathways of information propagation between individuals. Existing…
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports…
This article investigates the problem of dynamic spectrum access for canonical wireless networks, in which the channel states are time-varying. In the most existing work, the commonly used optimization objective is to maximize the…
In this paper, we consider fundamental communication limits over a compound channel. Covert communication in the information-theoretic context has been primarily concerned with fundamental limits when the transmitter wishes to communicate…
Feedback communication is studied from a control-theoretic perspective, mapping the communication problem to a control problem in which the control signal is received through the same noisy channel as in the communication problem, and the…