Related papers: Hierarchical Distributed Architecture for the Leas…
Atomic clocks are typically operated by locking a local oscillator (LO) to a single atomic ensemble. In this article we propose a scheme where the LO is locked to several atomic ensembles instead of one. This results in an exponential…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, the hybrid sparse/diffuse (HSD) channel model in frequency domain is proposed. Based on the structural analysis on the resolvable paths and diffuse scattering statistics in the channel, the Hybrid Atomic-Least-Squares (HALS)…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
This work is concerned with the problem of distributed resource allocation in continuous-time setting but with discrete-time communication over infinitely jointly connected and balanced digraphs. We provide a passivity-based perspective for…
With the increasing penetration of renewable energy resources, power systems face new challenges in balancing power supply and demand and maintaining the nominal frequency. This paper studies load control to handle these challenges. In…
Motivated by various distributed control applications, we consider a linear system with Gaussian noise observed by multiple sensors which transmit measurements over a dynamic lossy network. We characterize the stationary optimal sensor…
Circular atomtronics is known to exhibit a uniform ground state, unlike elliptical atomtronics. In elliptical atomtronics, the matter wave tends to accumulate along the semimajor edges during its time dynamics, which we depict by the…
Distributionally balanced sampling designs are low-discrepancy probability designs obtained by minimizing the expected discrepancy between the auxiliary-variable distribution of a random sample and the target population distribution.…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
Time slots are a valuable channel resource in the data link network with time division multiple access architecture. The need for finding a secure and efficient way to meet the requirements of large access capacity, differentiated access,…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
Robotic telescopes present the opportunity for the sparse temporal placement of observations when period searching. We address the best way to place a limited number of observations to cover the dynamic range of frequencies required by an…
We develop a rigorously controlled multi-time scale averaging technique; the averaging is done on a finite time interval, properly chosen, and then, via iterations and normal form transformations, the time intervals are scaled to arbitrary…
This paper investigates the distributed continuous-time nonconvex optimization problem over unbalanced directed networks. The objective is to cooperatively drive all the agent states to an optimal solution that minimizes the sum of the…
Fault-tolerant coverage control involves determining a trajectory that enables an autonomous agent to cover specific points of interest, even in the presence of actuation and/or sensing faults. In this work, the agent encounters control…
Analog signals processed in digital hardware are quantized into a discrete bit-constrained representation. Quantization is typically carried out using analog-to-digital converters (ADCs), operating in a serial scalar manner. In some…
We develop an abstract model of atomic clocks that fully describes the dynamics of repeated synchronization between a classical oscillator and a quantum reference. We prove existence of a stationary state of the model and study its…
Loss minimization in distribution networks (DN) is of great significance since the trend to the distributed generation (DG) requires the most efficient operating scenario possible for economic viability variations. Moreover, voltage…
We analyze the convergence of gradient-based optimization algorithms that base their updates on delayed stochastic gradient information. The main application of our results is to the development of gradient-based distributed optimization…