相关论文: Decentralized Connectivity Maintenance with Time D…

Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…

Consider the question of building a system of commands remotely controlled robot that can perform motion stabilization in the presence of a constant delay of the control signal.

This paper presents a robust secondary control strategy for frequency synchronization and active power sharing for inverter-based microgrids. The problem is addressed in a multi-agent fashion where the local controllers of the distributed…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches typically assume perfect communication environments, which…

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…

When multiple model predictive controllers are implemented on a shared control area network (CAN), their performance may degrade due to the inhomogeneous timing and delays among messages. The priority based real-time scheduling of messages…

The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…

Time-triggered and event-triggered control strategies for stabilization of an unstable plant over a rate-limited communication channel subject to unknown, bounded delay are studied and compared. Event triggering carries implicit…

In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…

Decentralized Federated learning is a distributed edge intelligence framework by exchanging parameter updates instead of training data among participators, in order to retrain or fine-tune deep learning models for mobile intelligent…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

Multi-robot systems are made up of a team of multiple robots, which provides the advantage of performing complex tasks with high efficiency, flexibility, and robustness. Although research on human-robot interaction is ongoing as robots…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…

Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…

Productive and efficient human-robot teaming is a highly desirable ability in service robots, yet there is a fundamental trade-off that a robot needs to consider in such tasks. On the one hand, gaining information from communication with…

The transformation to smart factories and the automation of mobile robotics is partly driven by a growing availability of ubiquitous cloud technologies. In cyber-physical systems, such as control systems, critical parts can be migrated to a…

Network connectivity plays an important role in the information exchange between different agents in the multi-level networks. In this paper, we establish a game-theoretic framework to capture the uncoordinated nature of the decision-making…

The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…