Related papers: Formation Under Communication Constraints: Control…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
We consider the problem of scheduling transmissions over low-latency wireless communication links to control various control systems. Low-latency requirements are critical in developing wireless technology for industrial control and Tactile…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
We consider the problem of cross-layer resource allocation in time-varying cellular wireless networks, and incorporate information theoretic secrecy as a Quality of Service constraint. Specifically, each node in the network injects two…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
The capacity of time-varying channels with periodic feedback at the transmitter is evaluated. It is assumed that the channel state information is perfectly known at the receiver and is fed back to the transmitter at the regular…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
Real-time applications are performance critical applications that require bounded service latency. In multi-hop wireless ad-hoc and sensor networks, communication delays are dominant over processing delays. Therefore, to enable real-time…
We investigate the trade-off between controllability, channel access, and age-related performance in a wireless network of control systems. Controllers share a random-access channel to transmit control inputs to actuators over slotted…
We study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial locations. We analyze how delays affect the spatial locality of…
This paper investigates the performance of wireless systems that employ finite-blocklength channel codes for transmission and operate under queueing constraints in the form of limitations on buffer overflow probabilities. A block fading…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
The optimal rate of reliable communication over a quantum channel can be enhanced by pre-shared entanglement. Whereas the enhancement may be unbounded in infinite-dimensional settings even when the input power is constrained, a…
The automation of factories and manufacturing processes has been accelerating over the past few years, boosted by the Industry 4.0 paradigm, including diverse scenarios with mobile, flexible agents. Efficient coordination between mobile…
This paper studies distributed optimal formation control with hard constraints on energy levels and termination time, in which the formation error is to be minimized jointly with the energy cost. The main contributions include a globally…
We consider the problem of covert communication over a state-dependent channel, where the transmitter has causal or noncausal knowledge of the channel states. Here, "covert" means that a warden on the channel should observe similar…
We consider the problem of error control in a coded, multicast network, focusing on the scenario where the errors can occur only on a proper subset of the network edges. We model this problem via an adversarial noise, presenting a formal…
In Networked Control Systems (NCS) impairments of the communication channel can be disruptive to stability and performance. In this paper, we consider the problem of scheduling the access to limited communication resources for a number of…