Related papers: Distributed Coverage Control on Poriferous Surface…
A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…
In this paper, we consider the resilient multi-dimensional consensus and distributed optimization problems of multi-agent systems (MASs) in the presence of both agent-based and denial-of-service (DoS) attacks. The considered agent-based…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
In multiple-input multiple-output (MIMO) device-to-device (D2D) networks, interference and rank-deficient channels are the critical bottlenecks for achieving high degrees of freedom (DoFs). In this paper, we propose a reconfigurable…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
This paper considers downlink of reconfigurable intelligent surface (RIS) assisted cooperative non-orthogonal multiple access (CNOMA) systems. Our objective is to minimize the total transmit power by jointly optimizing the active…
Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
Traffic-responsive signal control is a cost-effective and easy-to-implement network management strategy with high potential in improving performance in congested networks with dynamic characteristics. Max Pressure (MP) distributed…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
Reconfigurable intelligent surfaces (RISs) offer a low-cost, energy-efficient means for enhancing wireless coverage. Yet, their inherently programmable reflections may unintentionally amplify interference, particularly in large-scale,…
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…
Fluid integrated reflecting and emitting surfaces (FIRES) are investigated. In these metasurfaces, each subarea hosts an active element capable of simultaneous transmission and reflection, phase, and geometric positioning control within the…
We investigate the distributed multi-agent sharing optimization problem in a directed graph, with a composite objective function consisting of a smooth function plus a convex (possibly non-smooth) function shared by all agents. While…
Control policies that can achieve high task performance and satisfy safety constraints are desirable for any system, including multi-agent systems (MAS). One promising technique for ensuring the safety of MAS is distributed control barrier…
To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases:…