相关论文: Decentralized control of large vehicular formation…

We study a model of random $\mathcal{R}$-enriched trees that is based on weights on the $\mathcal{R}$-structures and allows for a unified treatment of a large family of random discrete structures. We establish distributional limits…

Let $\{D_M\}_{M\geq 0}$ be the $n$-vertex random directed graph process, where $D_0$ is the empty directed graph on $n$ vertices, and subsequent directed graphs in the sequence are obtained by the addition of a new directed edge uniformly…

Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…

We study a hierarchy of models based on kinetic equations for the descriptions of traffic flow in presence of autonomous and human--driven vehicles. The autonomous cars considered in this paper are thought of as vehicles endowed with some…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired inter-vehicular distance between vehicles and…

This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…

We propose graph-dependent implicit regularisation strategies for distributed stochastic subgradient descent (Distributed SGD) for convex problems in multi-agent learning. Under the standard assumptions of convexity, Lipschitz continuity,…

The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…

When a physical system is driven away from equilibrium, the statistical distribution of its dynamical trajectories informs many of its physical properties. Characterizing the nature of the distribution of dynamical observables, such as a…

Traffic volume is an indispensable ingredient to provide fine-grained information for traffic management and control. However, due to limited deployment of traffic sensors, obtaining full-scale volume information is far from easy. Existing…

This document considers the formation control problem for a group of non-holonomic mobile robots under time delayed communications. The agents are assumed to be working under a directed and fixed communication topology. A recently developed…

This article presents input-output stability analysis of nonlinear feedback systems based on the notion of soft and hard scaled relative graphs (SRGs). The soft and hard SRGs acknowledge the distinction between incremental positivity and…

A growing body of work has begun to study intervention design for efficient structure learning of causal directed acyclic graphs (DAGs). A typical setting is a causally sufficient setting, i.e. a system with no latent confounders, selection…

We study control of constrained linear systems with only partial statistical information about the uncertainty affecting the system dynamics and the sensor measurements. Specifically, given a finite collection of disturbance realizations…

The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…

We consider distributed consensus and vehicular formation control problems. Specifically we address the question of whether local feedback is sufficient to maintain coherence in large-scale networks subject to stochastic disturbances. We…

When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…

In this paper we consider complex dynamical networks modeled by means of state space systems running in discrete time. We assume that the dependency structure of the variables within the (nonlinear) network equations is known and use…

The dynamics of information diffusion within graphs is a critical open issue that heavily influences graph representation learning, especially when considering long-range propagation. This calls for principled approaches that control and…