相关论文: Distributed goal assignment strategy for improving…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
The distributed optimal synchronization problem with linear quadratic cost is solved in this paper for multi-agent systems with an undirected communication topology. For the first time, the optimal synchronization problem is formulated as a…
Consensus control in multi-agent systems has received significant attention and practical implementation across various domains. However, managing consensus control under unknown dynamics remains a significant challenge for control design…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
Current approaches to multi-agent cooperation rely heavily on centralized mechanisms or explicit communication protocols to ensure convergence. This paper studies the problem of distributed multi-agent learning without resorting to…
This paper proposes a reinforcement learning-based approach for optimal transient frequency control in power systems with stability and safety guarantees. Building on Lyapunov stability theory and safety-critical control, we derive…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
In this paper, we propose an approach for solving an energy-optimal goal assignment problem to generate the desired formation in multi-agent systems. Each agent solves a decentralized optimization problem with only local information about…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
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…
In this paper, we first establish an exponential stability result for a class of linear switched systems and then apply this result to show the existence of the distributed observer for a discrete-time leader system over jointly connected…
In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with…
We propose a scalable, distributed algorithm for the optimal transport of large-scale multi-agent systems. We formulate the problem as one of steering the collective towards a target probability measure while minimizing the total cost of…
This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…
We propose and analyse a model predictive control (MPC) strategy tailored for networks of underwater agents tasked with maintaining formation while following a shared path and using acoustic communication channels. The strategy accommodates…
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…