Related papers: Decentralised control of material or traffic flows…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
Robots and control systems rely upon precise timing of sensors and actuators in order to operate intelligently. We present a functioning hexapod robot that walks with a dual tripod gait; each tripod is actuated using its own local…
Experimental studies of synchronization properties on networks with controlled connection topology can provide powerful insights into the physics of complex networks. Here, we report experimental results on the influence of connection…
We propose a stochastic model for the intersection of two urban streets. The vehicular traffic at the intersection is controlled by a set of traffic lights which can be operated subject to fix-time as well as traffic adaptive schemes.…
Although the set of permutation symmetries of a complex network can be very large, few of the symmetries give rise to stable synchronous patterns. Here we present a new framework and develop techniques for controlling synchronization…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
Phase, frequency, and time synchronization are crucial requirements for many applications, such as multi-static remote sensing and communication systems. Moreover, the synchronization solution becomes even more challenging when the nodes…
Decentralized air traffic management requires coordination among self-interested stakeholders operating under shared safety and capacity constraints, where conventional centralized or implicitly cooperative models do not adequately capture…
The growing integration of renewable energy sources into distribution networks poses significant challenges to frequency and voltage stability due to their intermittent nature and low-inertia dynamics. This paper proposes a multilevel…
We propose a Distributed and Collaborative Monitoring system, DCM, with the following properties. First, DCM allow switches to collaboratively achieve flow monitoring tasks and balance measurement load. Second, DCM is able to perform…
In potential flow networks, the equilibrium flow rates are usually not proportional to the demands and flow control elements are required to regulate the flow. The control elements can broadly be classified into two types - discrete and…
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…
The emergence of synchronization in a network of coupled oscillators is a pervasive topic in various scientific disciplines ranging from biology, physics, and chemistry to social networks and engineering applications. A coupled oscillator…
The paradigm of Cyber-Physical Systems of Systems (CPSoS) is becoming rather popular in the control systems research community because of its expressive power able to properly handle many engineered complex systems of interest.…
In this paper, we investigate a decentralized control problem with nested subsystems, which is a general model for one-directional communication amongst many subsystems. The noises in our dynamics are modelled as uncertain variables which…
We introduce a prototype model for globally-coupled oscillators in which each element is given an oscillation frequency and a preferential oscillation direction (polarization), both randomly distributed. We found two collective transitions:…
This work addresses the problem of autonomous traffic management at an isolated intersection for connected and automated vehicles. We decompose the trajectory of each vehicle into two phases: the provisional phase and the coordinated phase.…
To address the challenge of conflicting traffic flows that complete on opposing cycle times in a specific phase of the traffic light, we proposed a novel decentralized traffic light control methodology based on the identification of the…
Synchronization of networked oscillators is known to depend fundamentally on the interplay between the dynamics of the graph's units and the microscopic arrangement of the network's structure. For non identical elements, the lack of…
When multiple self-adaptive systems share the same environment and have common goals, they may coordinate their adaptations at runtime to avoid conflicts and to satisfy their goals. There are two approaches to coordination. (1) Logically…