Related papers: VoI-aware Scheduling Schemes for Multi-Agent Forma…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
A multi-agent system comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention for their wide-ranging applications. Within this context, formation control emerges as a…
Modern sensing and monitoring applications typically consist of sources transmitting updates of different sizes, ranging from a few bytes (position, temperature, etc.) to multiple megabytes (images, video frames, LIDAR point scans, etc.).…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
Using environmental sensory data can enhance communications beam training and reduce its overhead compared to conventional methods. However, the availability of fresh sensory data during inference may be limited due to sensing constraints…
This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
A large body of applications that involve monitoring, decision making, and forecasting require timely status updates for their efficient operation. Age of Information (AoI) is a newly proposed metric that effectively captures this…
As development Internet-of-Vehicles (IoV) technology and demand for Intelligent Transportation Systems (ITS) increase, there is a growing need for real-time data and communication by vehicle users. Traditional request-based methods face…
Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…
In Internet of Things (IoTs), the freshness of system status information is crucial for real-time monitoring and decision-making. This paper studies the transmission scheduling problem in wireless monitoring systems, where information…
Age-of-Information (AoI) is a critical metric for network applications. Existing works mostly address optimization with homogeneous AoI requirements, which is different from practice. In this work, we optimize uplink scheduling for an…
We consider a system composed of a sensor node tracking a time varying quantity. In every discretized time slot, the node attempts to send an update to a central monitoring station through one of K communication channels. We consider the…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
Formation control algorithms for multi-agent systems have gained much attention in the recent years due to the increasing amount of mobile and aerial robotic swarms. The design of safe controllers for these vehicles is a substantial aspect…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
In this paper, we consider a set of agents, which may receive an observation of their state by a central observa- tion post via a shared wireless network. The aim of this work is to design a scheduling mechanism for the central observation…
The timeliness of collected information is essential for monitoring and control in data-driven intelligent infrastructures. It is typically quantified using the Age of Information (AoI) metric, which has been widely adopted to capture the…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…