相关论文: A Topology-Switching Coalitional Control and Obser…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
This paper addresses cooperative lane-changing maneuvers in mixed traffic, aiming to minimize traffic flow disruptions while accounting for uncooperative vehicles. The proposed approach adopts controllers combining Optimal control with…
This paper is concerned with the design of cooperative distributed Model Predictive Control (MPC) for linear systems. Motivated by the special structure of the distributed models in some existing literature, we propose to apply a state…
We present a fluid-dynamic model for the simulation of urban traffic networks with road sections of different lengths and capacities. The model allows one to efficiently simulate the transitions between free and congested traffic, taking…
Some necessary and sufficient conditions are obtained for the controllability and observability of a networked system with linear time invariant (LTI) dynamics. The topology of this system is fixed but arbitrary, and every subsystem is…
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…
Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
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…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
In this paper we provide a set of stability conditions for linear time-invariant networked control systems with arbitrary topology, using a Lyapunov direct approach. We then use these stability conditions to provide a novel low-complexity…
This paper deals with a distributed state estimation problem for jointly observable multi-agent systems operated over various time-varying network topologies. The results apply when the system matrix of the system to be observed contains…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
Fully re-orientable small spacecraft are now supported by commercial technologies, allowing them to point their instruments in any direction and capture images, with short notice. When combined with improved onboard processing, and…
Efficient control of power systems is becoming increasingly difficult as they gain in complexity and size. We propose an automatic control strategy that regulates the mechanical power output of the generators in a power grid based on…
We study the stability of orbits in large Boolean networks with given complex topology. We impose no restrictions on the form of the update rules, which may be correlated with local topological properties of the network. While recent past…
We propose a financial liquidity policy sharing method for firm-to-firm supply networks, introducing a scalable autonomous control function for viable complex adaptive supply networks. Cooperation and competition in supply chains is…
We provide a rigorous solution to the problem of constructing a structural evolution for a network of coupled identical dynamical units that switches between specified topologies without constraints on their structure. The evolution of the…