Related papers: Noncooperative Coordination for Decentralized Air …
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
In this paper, we investigate the dynamic emergence of traffic order in a distributed multi-agent system, aiming to minimize inefficiencies that stem from unnecessary structural impositions. We introduce a methodology for developing a…
The electric power distribution network (PDN) and the transportation network (TN) are generally operated/coordinated by different entities. However, they are coupled with each other due to electric vehicle charging stations (EVCSs). This…
In this paper we present a new approach to decentralized supervisory control of large automata with communicating supervisors. We first generalize the recently developed top-down architecture of multilevel coordination control with a…
Coordination services and protocols are critical components of distributed systems and are essential for providing consistency, fault tolerance, and scalability. However, due to the lack of standard benchmarking and evaluation tools for…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…
For a network of interconnected nonlinear dynamical systems an adaptive leader-follower output feedback synchronization problem is considered. The proposed structure of decentralized controller and adaptation algorithm is based on…
Despite the advances in the autonomous driving domain, autonomous vehicles (AVs) are still inefficient and limited in terms of cooperating with each other or coordinating with vehicles operated by humans. A group of autonomous and…
The purpose of this report is to define abstractions for multi-agent systems under coupled constraints. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account…
We introduce a dynamic percolation model aimed at describing the consumption, and eventual exhaustion, of resources in transportation networks. In the model, rational agents progressively consume the edges of a network along demanded…
This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
We study transportation networks controlled by dynamic feedback tolls. We focus on a multiscale model whereby the dynamics of the traffic flows are intertwined with those of the routing choices. The latter are influenced by the current…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
Robust coordination skills enable agents to operate cohesively in shared environments, together towards a common goal and, ideally, individually without hindering each other's progress. To this end, this paper presents Coordinated QMIX…
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…