Related papers: Distributed Adaptive Consensus with Obstacle and C…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
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…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
The guaranteed-performance consensualization for high-order linear and nonlinear multiagent systems with switching topologies is respectively realized in a completely distributed manner in the sense that consensus design criteria are…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as well as…
We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
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…
This paper fully studies distributed optimal consensus problem in non-directed dynamical networks. We consider a group of networked agents that are supposed to rendezvous at the optimal point of a collective convex objective function. Each…
This paper presents distributed algorithmic solutions that employ opportunistic inter-agent communication to achieve dynamic average consensus. In our solutions each agent is endowed with a local criterion that enables it to determine…
In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…
This paper addresses the challenges of high resource dynamism and scheduling complexity in cloud-native database systems. It proposes an adaptive resource orchestration method based on multi-agent reinforcement learning. The method…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…