相关论文: Optimal Threshold-Based Control Policies for Persi…

Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…

Coordination of distributed agents is required for problems arising in many areas, including multi-robot systems, networking and e-commerce. As a formal framework for such problems, we use the decentralized partially observable Markov…

On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) consists in finding paths for multiple agents, avoiding collisions. Finding the minimum-length solution is known to be NP-hard, and computation times grows exponentially…

This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the…

We consider the problem of using multiple agents to harvest data from a collection of sensor nodes (targets) scattered across a two-dimensional environment. These targets transmit their data to the agents that move in the space above them,…

Temporal point processes have been widely applied to model event sequence data generated by online users. In this paper, we consider the problem of how to design the optimal control policy for point processes, such that the stochastic…

This paper investigates event-triggered consensus tracking in nonlinear semi-strict-feedback multi-agent systems involving one leader and multiple followers. We first employ radial basis function neural networks and backstepping techniques…

In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…

A new class of stochastic processes called independent and periodically identically distributed (i.p.i.d.) processes is defined to capture periodically varying statistical behavior. A novel Bayesian theory is developed for detecting a…

We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for…

This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…

The Visibility-based Persistent Monitoring (VPM) problem seeks to find a set of trajectories (or controllers) for robots to persistently monitor a changing environment. Each robot has a sensor, such as a camera, with a limited field-of-view…

We study a large-scale patrol problem with state-dependent costs and multi-agent coordination.We consider heterogeneous agents, rather general reward functions, and the capabilities of tracking agents' trajectories.Given the complexity and…

Distributed optimization problems have received much attention due to their privacy preservation, parallel computation, less communication, and strong robustness. This paper presents and studies the time-varying distributed optimization…

We study optimal distributed first-order optimization algorithms when the network (i.e., communication constraints between the agents) changes with time. This problem is motivated by scenarios where agents experience network malfunctions.…

In this paper, we consider the distributed optimal control problem for discrete-time linear networked systems. In particular, we are interested in learning distributed optimal controllers using graph recurrent neural networks (GRNNs). Most…

We consider the problem of online learning of optimal control for repeatedly operated systems in the presence of parametric uncertainty. During each round of operation, environment selects system parameters according to a fixed but unknown…

In this letter we propose an optimization-based boundary controller for traffic flow dynamics capable of achieving both stability and invariance conditions. The approach is based on the definition of Boundary Control Barrier Functionals,…

Through legislation and technical advances users gain more control over how their data is processed, and they expect online services to respect their privacy choices and preferences. However, data may be processed for many different…

In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a…