Related papers: Synchronization-Based Cooperative Distributed Mode…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
In this paper we design a novel class of online distributed optimization algorithms leveraging control theoretical techniques. We start by focusing on quadratic costs, and assuming to know an internal model of their variation. In this…
We propose two distributed iterative algorithms that can be used to solve, in finite time, the distributed optimization problem over quadratic local cost functions in large-scale networks. The first algorithm exhibits synchronous operation…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
In this paper we introduce an iterative Jacobi algorithm for solving distributed model predictive control (DMPC) problems, with linear coupled dynamics and convex coupled constraints. The algorithm guarantees stability and persistent…
Coordination of distributed agents is required for problems arising in many areas, including multi-robot systems, networking and e-commerce. As a formal framework for such problems, we use the decentralized partially observable Markov…
Standard model predictive control strategies imply the online computation of control inputs at each sampling instance, which traditionally limits this type of control scheme to systems with slow dynamics. This paper focuses on distributed…
Optimal control synthesis in stochastic systems with respect to quantitative temporal logic constraints can be formulated as linear programming problems. However, centralized synthesis algorithms do not scale to many practical systems. To…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
Distributed model predictive control (MPC) has been proven a successful method in regulating the operation of large-scale networks of constrained dynamical systems. This paper is concerned with cooperative distributed MPC in which the…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
Cooperative Distributed Model Predictive Control (DiMPC) architecture employs local MPC controllers to control different subsystems, exchanging information with each other through an iterative procedure to enhance overall control…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
Cooperative control is crucial for the effective operation of dynamical multi-agent systems. Especially for distributed control schemes, it is essential to exchange data between the agents. This becomes a privacy threat if the data is…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the…