Related papers: Formation Under Communication Constraints: Control…
In this paper, cognitive transmission under quality of service (QoS) constraints is studied. In the cognitive radio channel model, it is assumed that the secondary transmitter sends the data at two different average power levels, depending…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
A joint communication and channel state estimation problem is investigated, in which reliable information transmission over a noisy channel, and high-fidelity estimation of the channel state, are simultaneously sought. The tradeoff between…
In Multi-Agent Reinforcement Learning, communication is critical to encourage cooperation among agents. Communication in realistic wireless networks can be highly unreliable due to network conditions varying with agents' mobility, and…
In this paper we address two basic questions in wireless communication: First, how long does it take to schedule an arbitrary set of communication requests? Second, given a set of communication requests, how many of them can be scheduled…
The wiretap channel models secure communication between two users in the presence of an eavesdropper who must be kept ignorant of transmitted messages. The performance of such a system is usually characterized by its secrecy capacity which…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in terms of communication, maintenance costs, and scalability, it…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
Communication is one of the effective means to improve the learning of cooperative policy in multi-agent systems. However, in most real-world scenarios, lossy communication is a prevalent issue. Existing multi-agent reinforcement learning…
A discrete time stochastic feedback control system with a noisy communication channel between the sensor and the controller is considered. The sensor has limited memory. At each time, the sensor transmits encoded symbol over the channel and…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…
In this paper, the capacity of wireless channels is characterized based on electromagnetic and antenna theories with only minimal assumptions. We assume the transmitter can generate an arbitrary current distribution inside a spherical…
A communication setup is considered where a transmitter wishes to convey a message to a receiver and simultaneously estimates the state of that receiver through a common waveform. The state is estimated at the transmitter by means of…
As multi-agent systems (MAS) become increasingly prevalent in autonomous systems, distributed control, and edge intelligence, efficient communication under resource constraints has emerged as a critical challenge. Traditional communication…
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution for this type of problems was given first for three or four…