Related papers: A Continuification-Based Control Solution for Larg…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…
When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…
This paper describes a systems architecture for a hybrid Centralised/Swarm based multi-agent system. The issue of local goal assignment for agents is investigated through the use of a global agent which teaches the agents responses to given…
We consider a discrete set of individual agents interacting with a continuum. Examples might be a predator facing a huge group of preys, or a few shepherd dogs driving a herd of sheeps. Analytically, these situations can be described…
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…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
Several problems in modeling and control of stochastically-driven dynamical systems can be cast as regularized semi-definite programs. We examine two such representative problems and show that they can be formulated in a similar manner. The…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
Controlling multi-agent systems is a persistent challenge in organismal, robotic and social collectives, especially when agents exhibit stochastic indecisiveness -- frequently switching between conflicting behavioral rules. Here, we…
Here we study the emergence of spontaneous leadership in large populations. In standard models of opinion dynamics, herding behavior is only obeyed at the local scale due to the interaction of single agents with their neighbors; while at…
Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
Real-time dynamic scheduling is a crucial but notoriously challenging task in modern manufacturing processes due to its high decision complexity. Recently, reinforcement learning (RL) has been gaining attention as an impactful technique to…
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…
This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…