Related papers: Distributed Resilience-Aware Control in Multi-Robo…
We study the problem of resilient consensus of sampled-data multi-agent networks with double-integrator dynamics. The term resilient points to algorithms considering the presence of attacks by faulty/malicious agents in the network. Each…
In this paper, we address the multiconsensus problem in networked systems, where agents are partitioned into disjoint subgroups and the states of agents within a subgroup are driven to consensus. Our objective is to present a distributed…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
This note studies resilient coordination of networked multiagent systems in the presence of misbehaving agents, i.e., agents that are subject to adversaries modeled as exogenous disturbances. Apart from the existing relevant literature that…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…
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…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
Modern nonlinear control theory seeks to develop feedback controllers that endow systems with properties such as safety and stability. The guarantees ensured by these controllers often rely on accurate estimates of the system state for…
Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using…
Ensuring safety in dynamic multi-agent systems is challenging due to limited information about the other agents. Control Barrier Functions (CBFs) are showing promise for safety assurance but current methods make strong assumptions about…
In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conservative behavior, and tuning these controllers to find the…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot plans while ensuring safety in dynamic multi-agent…
Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced order Model (RoM), and track the resulting safe behavior on…