相关论文: Coordination Control of Discrete-Event Systems Rev…

We address the multi-agent persistent monitoring problem defined on a set of nodes (targets) interconnected over a network topology. A measure of mean overall node state uncertainty evaluated over a finite period is to be minimized by…

An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs…

We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…

This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…

Recently we proposed relative observability for supervisory control of discrete-event systems under partial observation. Relative observability is closed under set unions and hence there exists the supremal relatively observable sublanguage…

Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…

This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…

This paper presents a Directed Controller Synthesis (DCS) technique for discrete event systems. The DCS method explores the solution space for reactive controllers guided by a domain-independent heuristic. The heuristic is derived from an…

We investigate fast and communication-efficient algorithms for the classic problem of minimizing a sum of strongly convex and smooth functions that are distributed among $n$ different nodes, which can communicate using a limited number of…

In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…

In this paper, we propose an event-based sampling policy to implement a constraint-tightening, robust MPC method. The proposed policy enjoys a computationally tractable design and is applicable to perturbed, linear time-invariant systems…

In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…

Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust formulations that are amenable to distributed design and…

This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…

This paper proposes decentralized resource-aware coordination schemes for solving network optimization problems defined by objective functions which combine locally evaluable costs with network-wide coupling components. These methods are…

Complex social systems are composed of interconnected individuals whose interactions result in group behaviors. Optimal control of a real-world complex system has many applications, including road traffic management, epidemic prevention,…

Timing control while preserving determinism is often a key requirement for ensuring the safety and correctness of distributed cyber-physical systems (CPS). Discrete-event (DE) systems provide a suitable model of computation (MoC) for…

We discuss the synchronization of coupled neurons which are modelled as FitzHugh-Nagumo systems. As smallest entity in a larger network, we focus on two diffusively coupled subsystems, which can be interpreted as two mutually interacting…

This paper demonstrates an equivalence between observation problems, control problems (with partial observation), and diagnosis problems of decentralized discrete-event systems, namely, the three classes of problems are Turing equivalent,…

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…