Related papers: A Lyapunov-based MPC for Distributed Multi Agent S…
This article presents a new technique for suboptimal consensus protocol design for a class of multiagent systems. The technique is based upon the extension of newly developed sufficient conditions for suboptimal linear-quadratic optimal…
An important aspect in jointly analysing networked control systems and their communication is to model the networking in a sufficiently rich but at the same time mathematically tractable way. As such, this paper improves on a recently…
Autonomous vehicles are rapidly evolving and will soon enable the application of large-scale mobility-on-demand (MoD) systems. Managing the fleets of available vehicles, commonly known as "rebalancing," is crucial to ensure that vehicles…
This article presents a distributed model-predictive control (MPC) design for real-time voltage control in power systems, including an online method to estimate the bus admittance matrix $\mathbf{Y}$ to let it be time-varying and unknown a…
Future wireless networks will be characterized by heterogeneous traffic requirements. Such requirements can be low-latency or minimum-throughput. Therefore, the network has to adjust to different needs. Usually, users with low-latency…
The problem of disturbance rejection/attenuation for constant-input delayed linear multi-agent systems (MASs) with the directed communication topology is tackled in this paper, where a classic model reduction technique is introduced to…
This work presents a distributed MPC-based approach to solving the problem of multi-agent point-to-point transition with optimization-based collision avoidance. The problem is formulated, motivated by the work on collision avoidance for…
This paper studies cooperative control of noncooperative double-integrator multi-agent systems (MASs) with input delay on connected directed graphs in the context of a differential graphical game (DGG). In the distributed DGG, each agent…
Networked Control Systems (NCSs) often suffer from random packet dropouts which deteriorate overall system's stability and performance. To handle the ill effects of random packet losses in feedback control systems, closed over communication…
In this paper, we investigate the distributed convex optimization problem over a multi-agent system with Markovian switching communication networks. The objective function is the sum of each agent's local objective function, which cannot be…
It was shown recently that CSMA (Carrier Sense Multiple Access)-like distributed algorithms can achieve the maximal throughput in wireless networks (and task processing networks) under certain assumptions. One important, but idealized…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
In this paper, we propose a novel distributed algorithm for consensus optimization over networks and a robust extension tailored to deal with asynchronous agents and packet losses. Indeed, to robustly achieve dynamic consensus on the…
We study continuous action reinforcement learning problems in which it is crucial that the agent interacts with the environment only through safe policies, i.e.,~policies that do not take the agent to undesirable situations. We formulate…
This paper presents a data-driven min-max model predictive control (MPC) scheme for linear parameter-varying (LPV) systems. Contrary to existing data-driven LPV control approaches, we assume that the scheduling signal is unknown during…
In this paper, we will consider the Look-Ahead Security Constrained Optimal Power Flow (LASCOPF) problem looking forward multiple dispatch intervals, in which the load demand varies over dispatch intervals according to some forecast. We…
We study the optimal scheduling problem where n source nodes attempt to transmit updates over L shared wireless on/off fading channels to optimize their age performance under energy and age-violation tolerance constraints. Specifically, we…
This paper studies the distributed average tracking problem pertaining to a discrete-time linear time-invariant multi-agent network, which is subject to, concurrently, input delays, random packet-drops, and reference noise. The problem…