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

This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…

We consider a perimeter surveillance problem introduced by Kingston, Beard, and Holt in 2008 and studied by Davis, Humphrey, and Kingston in 2019. In this problem, $n$ drones surveil a finite interval, moving at uniform speed and exchanging…

We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…

We consider the decentralized control of a discrete-time, linear system subject to exogenous disturbances and polyhedral constraints on the state and input trajectories. The underlying system is composed of a finite collection of…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…

This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…

This paper presents a distributed model predictive control (DMPC) scheme for nonlinear continuous-time systems. The underlying distributed optimal control problem is cooperatively solved in parallel via a sensitivity-based algorithm. The…

Unlike the classical distributed consensus protocols enabling the group of agents as a whole to reach an agreement regarding a certain quantity of interest in a distributed fashion, the distributed biased min-consensus protocol (DBMC) has…

Timed automata are a common formalism for the verification of concurrent systems subject to timing constraints. They extend finite-state automata with clocks, that constrain the system behavior in locations, and to take transitions. While…

In this paper a new distributed asynchronous algorithm is proposed for time synchronization in networks with random communication delays, measurement noise and communication dropouts. Three different types of the drift correction algorithm…

In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…

Time-Sensitive Distributed Systems (TSDS), such as applications using autonomous drones, achieve goals under possible environment interference (\eg, winds). Moreover, goals are often specified using explicit time constraints which must be…

In this work we extend the Emerson and Kahlon's cutoff theorems for process skeletons with conjunctive guards to Parameterized Networks of Timed Automata, i.e. systems obtained by an \emph{apriori} unknown number of Timed Automata…

This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…

The timed-based automata model, introduced by Alur and Dill, provides a useful formalism for describing real-time systems. Over the last two decades, several dense-time model checking tools have been developed based on that model. The paper…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

Identification of time-varying linear systems, which introduce both time-shifts (delays) and frequency-shifts (Doppler-shifts), is a central task in many engineering applications. This paper studies the problem of identification of…

The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…

In formal verification, runtime monitoring consists of observing the execution of a system in order to decide as quickly as possible whether or not it satisfies a given property. We consider monitoring in a distributed setting, for…

Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…