Related papers: Distributed Nonlinear Control of Networked Two-Whe…

We propose a distributed data-based predictive control scheme to stabilize a network system described by linear dynamics. Agents cooperate to predict the future system evolution without knowledge of the dynamics, relying instead on learning…

Synchronization is a crucial phenomenon in many natural and artificial complex network systems. Applications include neuronal networks, formation control and coordination in robotics, and frequency synchronization in electrical power grids.…

This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…

In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…

Motivated by the fact that intelligent traffic control systems have become inevitable demand to cope with the risk of traffic congestion in urban areas, this paper develops a distributed control strategy for urban traffic networks. Since…

This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…

This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…

In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs…

We propose a distributed algorithm for controlling traffic signals, allowing constraints such as periodic switching sequences of phases and minimum and maximum green time to be incorporated. Our algorithm is adapted from backpressure…

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 paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…

This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…

In order to enhance the performance of cyber-physical systems, this paper proposes the integrated de-sign of distributed controllers for distributed plants andthe control of the communication network. Conventionaldesign methods use static…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…

This paper considers the problem of online multi-robot motion planning with general nonlinear dynamics subject to unknown external disturbances. We propose dSLAP, a distributed safe learning and planning framework that allows the robots to…

This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…

Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…

This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…

We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions…