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This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded.…
This papers studies multi-agent (convex and \emph{nonconvex}) optimization over static digraphs. We propose a general distributed \emph{asynchronous} algorithmic framework whereby i) agents can update their local variables as well as…
This paper studies multi-agent systems with nonlinear consensus protocols, i.e., only nonlinear measurements of the states are available to agents. The solutions of these systems are understood in Filippov sense since the possible…
Provenance-based intrusion detection has emerged as a promising approach for analyzing complex attack behaviors through system-level provenance graphs. However, existing defense methods face an inherent granularity limitation. Node-centric…
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…
This paper investigates a new class of linear multi-agent network systems, in which nodes are coupled by dynamic edges in the sense that each edge has a dynamic system attached as well. The outputs of the edge dynamic systems form the…
This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…
Controlling multiple wave properties simultaneously poses a key challenge in coherent control of wave transport. We present a theory for joint coherent control of transmission, reflection, and absorption in linear systems. We prove that the…
We consider affine systems defined on polytopes and study the cases where the systems are not in-block controllable with respect to the given polytopes. That are the cases in which we cannot fully control the affine systems within the…
This paper addresses the positive synchronization of interconnected systems on undirected graphs. For homogeneous positive systems, a static feedback protocol design is proposed, based on the Linear Regulator problem. The solution to the…
Generative agents have proven to be powerful assistants in a wide variety of contexts. Given this success, users are now deploying agents with minimal restrictions in open ended, multi-agent environments. Current methods for monitoring the…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
We derive conditions for the identifiability of nonlinear networks characterized by additive dynamics at the level of the edges when all the nodes are excited. In contrast to linear systems, we show that the measurement of all sinks is…
This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology, where sensing capabilities are non-uniform across…
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…
We study a class of structured optimal control problems in which the main diagonal of the dynamic matrix is a linear function of the design variable. While such problems are in general challenging and nonconvex, for positive systems we…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
This work presents a harmonic design of autonomous guided vehicle (AGV) control, edge intelligence, and human input to enable autonomous transportation in industrial environments. The AGV has the capability to navigate between a source and…
We study binary coordination games over graphs under log-linear learning when neighbor actions are conveyed through explicit noisy communication links. Each edge is modeled as either a binary symmetric channel (BSC) or a binary erasure…