相关论文: A Mechanized Proof of Bounded Convergence Time for…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

We consider parameterized verification problems for networks of timed automata (TAs) based on different communication primitives. To this end, we first consider disjunctive timed networks (DTNs), i.e., networks of TAs that communicate via…

Most machine learning and deep neural network algorithms rely on certain iterative algorithms to optimise their utility/cost functions, e.g. Stochastic Gradient Descent. In distributed learning, the networked nodes have to work…

By spreading phases on the unit circle, desynchronization algorithm is a powerful tool to achieve round-robin scheduling, which is crucial in applications as diverse as media access control of communication networks, realization of…

In distributed model predictive control (DMPC), where a centralized optimization problem is solved in distributed fashion using dual decomposition, it is important to keep the number of iterations in the solution algorithm, i.e. the amount…

Monitoring distributed systems to ensure their correctness is a challenging and expensive but essential problem. It is challenging because while execution of a distributed system creates a partial order among events, the monitor will…

Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…

Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…

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…

This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…

This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each…

Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…

We introduce an automata-theoretic method for the verification of distributed algorithms running on ring networks. In a distributed algorithm, an arbitrary number of processes cooperate to achieve a common goal (e.g., elect a leader).…

A spatially distributed system contains a large amount of agents with limited sensing, data processing, and communication capabilities. Recent technological advances have opened up possibilities to deploy spatially distributed systems for…

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…

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…

The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed…

We study asynchronous finite sum minimization in a distributed-data setting with a central parameter server. While asynchrony is well understood in parallel settings where the data is accessible by all machines -- e.g., modifications of…

This paper introduces the Discrete Dithered Desynchronization (D3sync) algorithm which is a decentralized Time Division Multiple Access (TDMA) technique in which a set of network nodes computes iteratively a conflict-free schedule so that…

Simulation-based verification algorithms can provide formal safety guarantees for nonlinear and hybrid systems. The previous algorithms rely on user provided model annotations called discrepancy function, which are crucial for computing…