Related papers: The Control Plant as A Communication Channel: Impl…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
This paper studies the decentralized optimization and learning problem where multiple interconnected agents aim to learn an optimal decision function defined over a reproducing kernel Hilbert space by jointly minimizing a global objective…
Linear-Quadratic-Gaussian (LQG) control is concerned with the design of an optimal controller and estimator for linear Gaussian systems with imperfect state information. Standard LQG assumes the set of sensor measurements, to be fed to the…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
We focus our attention on the most common scenario in networked control systems where the measured output from the observer is transmitted via a communication channel to the controller. Using information theoretic results, we studied the…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
We study feedback control of a dynamical process over a lossy channel equipped with a hybrid automatic repeat request protocol that connects a sensor to an actuator. The dynamical process is modeled by a Gauss-Markov process, and the lossy…
In the Internet-of-Things (IoT) era, efficient functionality integration is essential to address the growing demands of communication, computation, and sensing. Signal-level integrated sensing, computing, and communication (Sig-ISCC) is…
This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication…
In large-scale federated and decentralized learning, communication efficiency is one of the most challenging bottlenecks. While gossip communication -- where agents can exchange information with their connected neighbors -- is more…
Integrated sensing and communication (ISAC) enables simultaneous localization, environment perception, and data exchange for connected autonomous vehicles. However, most existing ISAC designs prioritize sensing accuracy and communication…
This paper studies the stochastic optimal control problem for systems with unknown dynamics. First, an open-loop deterministic trajectory optimization problem is solved without knowing the explicit form of the dynamical system. Next, a…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topology and achieve high performance and robustness. This work…
We examine the problem of learning to cooperate in the context of wireless communication. In our setting, two agents must learn modulation schemes that enable them to communicate across a power-constrained additive white Gaussian noise…
This paper develops a direct data-driven inverse optimal control (3DIOC) algorithm for the linear time-invariant (LTI) system who conducts a linear quadratic (LQ) control, where the underlying objective function is learned directly from…
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports…
A long-standing problem on the classical capacity of bosonic Gaussian channels has recently been resolved by proving the minimum output entropy conjecture. It is also known that the ultimate capacity quantified by the Holevo bound can be…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
This paper investigates the problem of coordinating several agents through their actions. Although the methodology applies to general scenarios, the present work focuses on a situation with an asymmetric observation structure that only…
The classic Vickrey-Clarke-Groves (VCG) mechanism ensures incentive compatibility, i.e., that truth-telling of all agents is a dominant strategy, for a static one-shot game. However, in a dynamic environment that unfolds over time, the…