Related papers: Noncooperative Coordination for Decentralized Air …
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in…
In this paper, we introduce a unified framework for studying various cloud traffic management problems, ranging from geographical load balancing to backbone traffic engineering. We first abstract these real-world problems as a…
New advances in large scale distributed systems have amazingly offered complex functionalities through parallelism of simple and rudimentary components. The key issue in cooperative control of multi-agent systems is the synthesis of local…
In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination…
Distributed fog and edge applications communicate over unreliable networks and are subject to high communication delays. This makes using existing distributed coordination technologies from cloud applications infeasible, as they are built…
To reduce CO2 emissions and tackle increasing fuel costs, the aviation industry is swiftly moving towards the electrification of aircraft. From the viewpoint of systems and control, a key challenge brought by this transition corresponds to…
Small unmanned aerial vehicles (UAVs) have generally little capacity to carry payloads. Through collaboration, the UAVs can increase their joint payload capacity and carry more significant loads. For maximum flexibility to dynamic and…
This paper introduces a novel concept for addressing non-convexity in the cost functions of distributed economic model predictive control (DEMPC) systems. Specifically, the proposed algorithm enables agents to self-organize into a hierarchy…
This paper considers a multi-cell AirComp network and investigates the optimal power control policies over multiple cells to regulate the effect of inter-cell interference. First, we consider the scenario of centralized multi-cell power…
Coordination in multiplayer games enables players to avoid the lose-lose outcome that often arises at Nash equilibria. However, designing a coordination mechanism typically requires the consideration of the joint actions of all players,…
We propose an operating-envelope-aware, prosumer-centric, and efficient energy community that aggregates individual and shared community distributed energy resources and transacts with a regulated distribution system operator (DSO) under a…
Cooperative multi-agent reinforcement learning is a powerful tool to solve many real-world cooperative tasks, but restrictions of real-world applications may require training the agents in a fully decentralized manner. Due to the lack of…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
We study transportation networks controlled by dynamical feedback tolls. We consider a multiscale transportation network model whereby the dynamics of the traffic flows are intertwined with those of the drivers' route choices. The latter…
This paper presents a decentralized control framework for distribution matching in multi-agent systems (MAS), where agents collectively achieve a prescribed terminal spatial distribution. The problem is formulated using optimal transport…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Collaborative perception holds great promise for improving safety in autonomous driving, particularly in dense traffic where vehicles can share sensory information to overcome individual blind spots and extend awareness. However, deploying…
Modeled after the hierarchical control architecture of power transmission systems, a layering of primary, secondary, and tertiary control has become the standard operation paradigm for islanded microgrids. Despite this superficial…