Related papers: Distributed Coverage Control on Poriferous Surface…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
Multi-agent systems play a central role in area coverage tasks across search-and-rescue, environmental monitoring, and precision agriculture. Achieving non-uniform coverage, where spatial priorities vary across the domain, requires…
Advances in CMOS-compatible photonic elements have made it plausible to exploit nanophotonic communications to overcome the limitations of traditional NoCs. Amongst various proposed nanophotonic architectures, optical crossbars have been…
Conformal mapping, a classical topic in complex analysis and differential geometry, has become a subject of great interest in the area of surface parameterization in recent decades with various applications in science and engineering.…
Accurate local state measurement is important to ensure the reliable operation of distributed multi-agent systems (MAS). Existing fault-tolerant control strategies generally assume the sensor faults to be bounded and uncorrelated. In this…
Reconfigurable intelligent surfaces (RISs) hold significant promise for enhancing physical layer security (PLS). However, conventional RISs are typically modeled using diagonal scattering matrices, capturing only independent reflections…
We develop a general deterministic distributed method for locally rounding fractional solutions of graph problems for which the analysis can be broken down into analyzing pairs of vertices. Roughly speaking, the method can transform…
We study nonconvex distributed optimization in multiagent networks where the communications between nodes is modeled as a time-varying sequence of arbitrary digraphs. We introduce a novel broadcast-based distributed algorithmic framework…
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of…
This article proposes a simple, graph-independent perspective on partitioning the node set of a graph and provides multi-agent systems (MASs) with objectives beyond cooperation and bipartition. Specifically, we first introduce the notion of…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…
In this paper, we investigate reconfigurable intelligent surface (RIS)-assisted communication systems which involve a fixed-antenna base station (BS) and a mobile user (MU) that is equipped with fluid antenna system (FAS). Specifically, the…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
By flexibly manipulating the radio propagation environment, reconfigurable intelligent surface (RIS) is a promising technique for future wireless communications. However, the single-side coverage and double-fading attenuation faced by…
We introduce a family of hybrid discretisations for the numerical approximation of optimal control problems governed by the equations of immiscible displacement in porous media. The proposed schemes are based on mixed and discontinuous…
In the present paper, an integrated paradigm for topology optimization on complex surfaces with arbitrary genus is proposed. The approach is constructed based on the two-dimensional (2D) Moving Morphable Component (MMC) framework, where a…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…