Related papers: A Lyapunov-based MPC for Distributed Multi Agent S…
This paper develops a novel approach to the consensus problem of multi-agent systems by minimizing a weighted state error with neighbor agents via linear quadratic (LQ) optimal control theory. Existing consensus control algorithms only…
This study deals with analysis and control of cooperative synchronization for identical agents interacting on a directed graph topology. The agents are considered to have general continuous linear time-invariant dynamics with homogeneous…
The timely delivery of resource-intensive and latency-sensitive services (e.g., industrial automation, augmented reality) over distributed computing networks (e.g., mobile edge computing) is drawing increasing attention. Motivated by the…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…
This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…
This article proposes a distributed control method for matrix-scaled multi-agent networks aimed at achieving convergence within a user-defined time frame. The control law of each individual agent relies only on information from neighboring…
This note proposes a distributed model predictive control (DMPC) scheme with switched cost functions for a class of spatially interconnected systems with communication constraints. Non-iterative and parallel communication strategy is…
We consider a multi-source relaying system where independent sources randomly generate status update packets which are sent to the destination with the aid of a relay through unreliable links. We develop transmission scheduling policies to…
In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
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…
Latency is inherent in almost all real-world networked applications. In this paper, we propose a distributed allocation strategy over multi-agent networks with delayed communications. The state of each agent (or node) represents its share…
In this paper, we consider the problem of real-time transmission scheduling over time-varying channels. We first formulate the transmission scheduling problem as a Markov decision process (MDP) and systematically unravel the structural…
The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems (OCP) in a centralized and distributed fashion using the…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
This report considers a fairly general model of constrained queuing networks that allows us to represent both MMBP (Markov Modulated Bernoulli Processes) arrivals and time-varying service constraints. We derive a set of sufficient…
We present the Distributed and Localized Model Predictive Control (DLMPC) algorithm for large-scale structured linear systems, wherein only local state and model information needs to be exchanged between subsystems for the computation and…
This paper deals with the distributed $\mathcal{H}_2$ optimal control problem for linear multi-agent systems. In particular, we consider a suboptimal version of the distributed $\mathcal{H}_2$ optimal control problem. Given a linear…
Min-max problems are important in multi-agent sequential decision-making because they improve the performance of the worst-performing agent in the network. However, solving the multi-agent min-max problem is challenging. We propose a…