Related papers: VoI-aware Scheduling Schemes for Multi-Agent Forma…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
Age-of-information (AoI) is a metric quantifying information freshness at the receiver. Since AoI combines packet generation frequency, packet loss, and delay into a single metric, it has received a lot of research attention as an interface…
In this paper, we study the trade-off between the transmission cost and the control performance of the multi-loop networked control system subject to network-induced delay. Within the linear-quadratic-Gaussian (LQG) framework, the joint…
Age-of-Information (AoI) is a recently introduced metric for network operation with sensor applications which quantifies the freshness of data. In the context of networked control systems (NCSs), we compare the worth of the AoI metric with…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
This paper considers a leader-following formation control problem for heterogeneous, second-order, uncertain, input-affine, nonlinear multi-agent systems modeled by a directed graph. A tunable, three-layer neural network (NN) is proposed…
We study the design of scheduling policies to minimize monitoring error for a collection of correlated sources, where only one source can be observed at any given time. We model correlated sources as a discrete-time Wiener process, where…
Formation strategy is one of the most important parts of many multi-agent systems with many applications in real world problems. In this paper, a framework for learning this task in a limited domain (restricted environment) is proposed. In…
While Remote control over wireless connections is a key enabler for scalable control systems consisting of multiple actuator-sensor pairs, i.e., control systems, it entails two technical challenges. Due to the lack of wireless resources,…
In order to enhance the performance of cyber-physical systems, this paper proposes the integrated de-sign of distributed controllers for distributed plants andthe control of the communication network. Conventionaldesign methods use static…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
The Age-of-Information (AoI) is a new performance metric recently proposed for measuring the freshness of information in information-update systems. In this work, we conduct a systematic and comparative study to investigate the impact of…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
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…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
Age of Information (AoI) has recently received much attention due to its relevance in IoT sensing and monitoring applications. In this paper, we consider the problem of minimizing the AoI in a system in which a set of sources are observed…
Age of Information (AoI), which measures the time elapsed since the generation of the last received packet at the destination, is a new metric for real-time status update tracking applications. In this paper, we consider a status-update…