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Many natural and man-made network systems need to maintain certain patterns, such as working at equilibria or limit cycles, to function properly. Thus, the ability to stabilize such patterns is crucial. Most of the existing studies on…
The relationship between the properties of a dynamical system and the structure of its defining equations has long been studied in many contexts. Here we study this problem for the class of conjunctive (resp. disjunctive) Boolean networks,…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…
This paper studies the controllability backbone problem in dynamical networks defined over graphs. The main idea of the controllability backbone is to identify a small subset of edges in a given network such that any subnetwork containing…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
Dynamic gene-regulatory networks are complex since the number of potential components involved in the system is very large. Estimating dynamic networks is an important task because they compromise valuable information about interactions…
Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…
Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
Many algorithms for control of multi-robot teams operate under the assumption that low-latency, global state information necessary to coordinate agent actions can readily be disseminated among the team. However, in harsh environments with…
We propose an adaptive control protocol for identifying the topology of dynamical networks interconnected over undirected graphs with cooperative and antagonistic interactions. The signed network is modeled using a repelling Laplacian.…
In this paper, controllability of undirected networked systems with {diffusively coupled subsystems} is considered, where each subsystem is of {identically {\emph{fixed}}} general high-order single-input-multi-output dynamics. The…
While many robotic tasks can be addressed using either centralized single-agent control with full state observation or decentralized multi-agent control, clear criteria for choosing between these approaches remain underexplored. This paper…
As embodied robots move toward fleet-scale operation, multi-robot coordination is becoming a central systems challenge. Existing approaches often treat this as motivation for increasing internal multi-agent decomposition within each robot.…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
In this paper we investigate a relaxed concept of controllability, known in the literature as herdability, namely the capability of a system to be driven towards the(interior of the) positive orthant. Specifically, we investigate…
There is a wealth of applied problems that can be posed as a dynamical system defined on a network with both attractive and repulsive interactions. Some examples include: understanding synchronization properties of nonlinear oscillator;,…