相关论文: Synchronization on Lie Groups: Coordination of Bli…

In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may…

This paper focuses on the further development of the Lie bracket approximation approach for optimization and control via extremum seeking systems. Classical results in this area provide algorithms with exponential convergence rates for…

This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…

Real-world agentic tasks, unlike synchronous Markov Decision Processes (MDPs), often involve non-blocking actions with variable latencies, creating a fundamental \textit{Temporal Gap} between action initiation and completion. Existing…

This paper gives a fresh look at network synchronization. Here we no longer analyze it from the view of mathematics, such as graph theory, while we probe into one from control theory. First, we analyze the synchronization region using the…

In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs…

Given an undirected measurement graph $\mathcal{H} = ([n], \mathcal{E})$, the classical angular synchronization problem consists of recovering unknown angles $\theta_1^*,\dots,\theta_n^*$ from a collection of noisy pairwise measurements of…

This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in…

In the next generation wireless networks, lowlatency communication is critical to support emerging diversified applications, e.g., Tactile Internet and Virtual Reality. In this paper, a novel blind demixing approach is developed to reduce…

Cellular sheaves and sheaf Laplacians provide a far-reaching generalization of graphs and graph Laplacians, resulting in a wide array of applications ranging from machine learning to multi-agent control. In the context of multi-agent…

This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized…

This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…

We study the problem of rendezvous of two mobile agents starting at distinct locations in an unknown graph. The agents have distinct labels and walk in synchronous steps. However the graph is unlabelled and the agents have no means of…

In this paper, we develop an extremum seeking control method integrated with iterative learning control to track a time-varying optimizer within finite time. The behavior of the extremum seeking system is analyzed via an approximating…

Nonlinear observer design for systems whose state space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear observers in that it involves propagating the state estimate using a process model…

In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…

We consider decentralized optimization over a compact Riemannian submanifold in a network of $n$ agents, where each agent holds a smooth, nonconvex local objective defined by its private data. The goal is to collaboratively minimize the sum…

Various alignment problems arising in cryo-electron microscopy, community detection, time synchronization, computer vision, and other fields fall into a common framework of synchronization problems over compact groups such as Z/L, U(1), or…

While frontier large language models (LLMs) are capable tool-using agents, current AI systems still operate in a strict turn-based fashion, oblivious to passage of time. This synchronous design forces user queries and tool-use to occur…

A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, have to meet at the same node and terminate. This problem is known as {\em gathering}. We study deterministic gathering algorithms…