相关论文: Decentralized control of large vehicular formation…
This is the second report of our work on the construction of directed strongly regular graphs. In our previous work, we constructed a couple of infinite families of new directed strongly regular graphs on the sets of antiflags of partial…
We study a non-linear dynamical system on networks inspired by the pitchfork bifurcation normal form. The system has several interesting interpretations: as an interconnection of several pitchfork systems, a gradient dynamical system and…
Formation control is concerned with the design of control laws that stabilize agents at given distances from each other, with the constraint that an agent's dynamics can depend only on a subset of other agents. When the information flow…
This work aims to address the design of fully distributed control protocols for stochastic consensus, and, for the first time, establishes the existence and uniqueness of solutions for the path-dependent and highly nonlinear closed-loop…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
This paper explores the structure of graphs defined by an excluded minor or an excluded odd minor through the lens of graph products and tree-decompositions. We prove that every graph excluding a fixed odd minor is contained in the strong…
This work establishes rigorous, novel and widely applicable stability guarantees and transferability bounds for graph convolutional networks -- without reference to any underlying limit object or statistical distribution. Crucially,…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
In this short note we provide a proof of boundedness of solutions for a network system composed of heterogeneous nonlinear autonomous systems interconnected over a directed graph. The sole assumptions imposed are that the systems are…
This paper introduces and studies the stability of the strong domination number of a graph, denoted $\operatorname{st}_{\gamma_{st}}(G)$, defined as the minimum number of vertices whose removal changes the strong domination number…
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure and an upper bound of the system's Lipschitz constant.…
Graph-based tests are a class of non-parametric two-sample tests useful for analyzing high-dimensional data. The test statistics are constructed from similarity graphs (such as K-minimum spanning tree), and consequently, their performance…
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…
We study blind deconvolution of signals defined on the nodes of an undirected graph. Although observations are bilinear functions of both unknowns, namely the forward convolutional filter coefficients and the graph signal input, a filter…
Fault detection has a long tradition: the necessity to provide the most accurate diagnosis possible for a process plant criticality is somehow intrinsic in its functioning. Continuous monitoring is a possible way for early detection.…
We study fundamental performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of whether dynamic feedback controllers perform better than static (memoryless)…
A number of deep reinforcement-learning (RL) approaches propose to control traffic signals. In this work, we study the robustness of such methods along two axes. First, sensor failures and GPS occlusions create missing-data challenges and…
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…
In this paper, we are concerned with the stabilization of linear port-Hamiltonian systems of arbitrary order $N \in \mathbb{N}$ on a bounded $1$-dimensional spatial domain $(a,b)$. In order to achieve stabilization, we couple the system to…
We consider the problem of engineering robust direct perception neural networks with output being regression. Such networks take high dimensional input image data, and they produce affordances such as the curvature of the upcoming road…