相关论文: Delayed Propagation Transformer: A Universal Compu…

Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information…

This paper presents Density-based Predictive Control (DPC), a novel multi-agent control strategy for efficient non-uniform area coverage, grounded in optimal transport theory. In large-scale scenarios such as search and rescue or…

This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…

This paper studies the synthesis of control policies for heterogeneous and interconnected multi-agent systems that collaborate through data exchange over a communication network to minimize a collective cost. We propose a distributed…

Conventional continual pretraining (CPT) for large language model (LLM) domain adaptation often suffers from catastrophic forgetting and limited domain capacity. Existing strategies adopt layer expansion, introducing additional trainable…

Telehaptic applications involve delay-sensitive multimedia communication between remote locations with distinct Quality of Service (QoS) requirements for different media components. These QoS constraints pose a variety of challenges,…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

This work presents a rigorous analysis of the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and propose a mitigation approach for attacks on sensors and actuators. First, we show how an attack…

In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith…

In Cyber-Physical Systems (CPS), inference based on communicated data is of critical significance as it can be used to manipulate or damage the control operations by adversaries. This calls for efficient mechanisms for secure transmission…

This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…

Active agents with time-delayed interactions arise naturally in various real-world systems, such as biological systems, transportation networks and robotic swarms. Such systems are typically modeled as Delay Differential Equations (DDEs)…

Urban traffic congestion remains a pressing challenge in our rapidly expanding cities, despite the abundance of available data and the efforts of policymakers. By leveraging behavioral system theory and data-driven control, this paper…

We study the deployment of a first-order multi-agent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest…

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…

In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…

The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

Demystifying the delay propagation mechanisms among multiple airports is fundamental to precise and interpretable delay prediction, which is crucial during decision-making for all aviation industry stakeholders. The principal challenge lies…

We develop a delay-adaptive controller for a class of first-order hyperbolic partial integro-differential equations (PIDEs) with an unknown input delay. By employing a transport PDE to represent delayed actuator states, the system is…