Related papers: Distributed Circumferential Coverage Control in No…
We study nonconvex distributed optimization in multi-agent networks with time-varying (nonsymmetric) connectivity. We introduce the first algorithmic framework for the distributed minimization of the sum of a smooth (possibly nonconvex and…
This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…
A distributed nonsmooth robust resource allocation problem with cardinality constrained uncertainty is investigated in this paper. The global objective is consisted of local objectives, which are convex but nonsmooth. Each agent is…
This article reports an algorithm for multi-agent distributed optimization problems with a common decision variable, local linear equality and inequality constraints and set constraints with convergence rate guarantees.…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
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…
In this work we study a distributed optimal output consensus problem for heterogeneous linear multi-agent systems where the agents aim to reach consensus with the purpose of minimizing the sum of private convex costs. Based on output…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as people in danger, geographically dispersed equipment or…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
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 paper studies distributed resilient consensus problem for a class of uncertain nonlinear multiagent systems susceptible to deception attacks. The attacks invade both sensor and actuator channels of each agent. A specific class of…
This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a conical field of view which covers all points within a circle on…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Distributed optimization is often widely attempted and innovated as an attractive and preferred methodology to solve large-scale problems effectively in a localized and coordinated manner. Thus, it is noteworthy that the methodology of…
A novel distributed algorithm is proposed for finite-time converging to a feasible consensus solution satisfying global optimality to a certain accuracy of the distributed robust convex optimization problem (DRCO) subject to bounded…