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Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must…
The presence of a delay between sensing and reacting to a signal can determine the long-term behavior of autonomous agents whose motion is intrinsically noisy. In a previous work [M. Mijalkov, A. McDaniel, J. Wehr, and G. Volpe, Phys. Rev.…
In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delay-free communication, the algorithm of interest achieves a practical…
In this paper, we study asymptotic stability of the zero solution of a class of differential systems governed by a scalar differential inequality with time-varying structures and delays. We establish a new generalized Halanay inequality for…
Stability of linear systems with uncertain bounded time-varying delays is studied under assumption that the nominal delay values are not equal to zero. An input-output approach to stability of such systems is known to be based on the bound…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
This work studies the problem of distributed optimization in heterogeneous linear multi-agent systems. Instead of relying on a perfect communication network as in many existing distributed optimization approaches, we considered two…
This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…
Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
Much recent progress has been achieved for stabilization of linear and nonlinear systems with input delays that are long and dependent on either time or the plant state---provided the dependence is known. In this paper we consider the delay…
We study delay-independent stability in nonlinear models with a distributed delay which have a positive equilibrium. Such models frequently occur in population dynamics and other applications. In particular, we construct a relevant…
This note studies stability of event-triggered control systems with the event-triggered control algorithm proposed in [1]. We construct a novel Halanay-type inequality, which is used to show that sufficient conditions of the main results in…
Delay mass-action systems provide a model of chemical kinetics when past states influence the current dynamics. In this work, we provide a graph-theoretic condition for delay stability, i.e., linear stability independent of both rate…
We present a condition for delay-independent stability of a class of nonlinear positive systems. This result applies to systems that are not necessarily monotone and extends recent work on cooperative nonlinear systems.
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
This paper studies data-driven control of unknown sampled-data systems with communication delays under an event-triggering transmission mechanism. Data-based representations for time-invariant linear systems with known or unknown system…