Related papers: Distributed Multi-Sensor Control for Multi-Target …
We consider a power-constrained sensor network, consisting of multiple sensor nodes and a fusion center (FC), that is deployed for the purpose of estimating a common random parameter of interest. In contrast to the distributed framework,…
Adaptive track initiation remains a crucial component of many modern multi-target tracking systems. For labeled random finite sets multi-object filters, prior work has been established to construct a labeled multi-object birth density using…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
This paper tackles the challenge of multi-sensor multi-object tracking by proposing various decentralised Variational Inference (VI) schemes that match the tracking performance of centralised sensor fusion with only local message exchanges…
This paper introduces a novel decentralized implementation of a continuification-based strategy to control the density of large-scale multi-agent systems on the unit circle. While continuification methods effectively address micro-to-macro…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
Coordination of radars can be performed in various ways. To be more resilient radar networks can be coordinated in a decentralized way. In this paper, we introduce a highly resilient algorithm for radar coordination based on decentralized…
This paper studies optimal consensus tracking problem of heterogeneous linear multi-agent systems. By introducing tracking error dynamics, the optimal tracking problem is reformulated as finding a Nash-equilibrium solution of a multi-player…
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…
Distributed estimation in the context of sensor networks is considered, where distributed agents are given a set of sensor measurements, and are tasked with estimating a target variable. A subset of sensors are assumed to be faulty. The…
This paper considers optimal traffic signal control in smart cities, which has been taken as a complex networked system control problem. Given the interacting dynamics among traffic lights and road networks, attaining controller adaptivity…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…
Sensor-based human activity recognition is a key technology for many human-centered intelligent applications. However, this research is still in its infancy and faces many unresolved challenges. To address these, we propose a comprehensive…
In this paper, we consider the problem of dynamically tuning gains for multi-robot systems (MRS) under potential based control design framework where the MRS team coordinates to maintain a connected topology while equipped with limited…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
Target tracking using observations from multiple sensors can achieve better estimation performance than a single sensor. The most famous estimation tool in target tracking is Kalman filter. There are several mathematical approaches to…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…