Related papers: VoI-aware Scheduling Schemes for Multi-Agent Forma…
The significance of the freshness of sensor and control data at the receiver side, often referred to as Age of Information (AoI), is fundamentally constrained by contention for limited network resources. Evidently, network congestion is…
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
Consider a network where a wireless base station (BS) connects multiple source-destination pairs. Packets from each source are generated according to a renewal process and are enqueued in a single-packet queue that stores only the freshest…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
We study the multi-user scheduling problem for minimizing the Age of Information (AoI) in cellular wireless networks under stationary and non-stationary regimes. We derive fundamental lower bounds for the scheduling problem and design…
Given an ensemble of autonomous agents and a task to achieve cooperatively, how much do the agents need to know about the state of the ensemble and about the task in order to achieve it? We introduce new methods to understand these aspects…
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…
We study a goal-oriented communication system in which a source monitors an environment that evolves as a discrete-time, two-state Markov chain. At each time slot, a controller decides whether to sample the environment and if so whether to…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…
This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
We consider a system consisting of $N$ source nodes communicating with a common receiver. Each source node has a buffer of infinite capacity to store incoming bursty traffic in the form of status updates transmitted in packets, which should…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
Concerning general multi-agent systems with limited communication, this paper proposes distributed formation control protocols under adaptive event-triggered schemes to operate affine transformations of nominal formations. To accommodate…
The optimization of Value of Information (VoI) in sensor networks integrates awareness of the measured process in the communication system. However, most existing scheduling algorithms do not consider the specific needs of monitoring…
One salient feature of cooperative formation tracking is its distributed nature that relies on localized control and information sharing over a sparse communication network. That is, a distributed control manner could be prone to malicious…
We consider a system with a single source that measures/tracks a time-varying quantity and periodically attempts to report these measurements to a monitoring station. Each update from the source has to be scheduled on one of K available…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…