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

This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…

Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper we develop novel tools that can be used within this framework and…

This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…

Timed B\"uchi automata provide a very expressive formalism for expressing requirements of real-time systems. Online monitoring and active testing of embedded real-time systems can then be achieved by symbolic execution of such automata on…

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

Algorithms for the synchronisation of clocks across networks are both common and important within distributed systems. We here address not only the formal modelling of these algorithms, but also the formal verification of their behaviour.…

Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…

While distributed algorithms provide advantages for the control of complex large-scale systems by requiring a lower local computational load and less local memory, it is a challenging task to design high-performance distributed control…

Real-time scheduling and locking protocols are fundamental facilities to construct time-critical systems. For parallel real-time tasks, predictable locking protocols are required when concurrent sub-jobs mutually exclusive access to shared…

Distributed AI inference pipelines rely heavily on timestamp-based observability to understand system behavior. This work demonstrates that even small clock skew between nodes can cause observability to become causally incorrect while the…

In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…

Distributed Constraint Satisfaction (DCSP) has long been considered an important problem in multi-agent systems research. This is because many real-world problems can be represented as constraint satisfaction and these problems often…

Cyber-Physical Systems~(CPS) consist of collaborative, networked and tightly intertwined computational (logical) and physical components, each operating at different spatial and temporal scales. Hence, the spatial and temporal requirements…

Pulse-wave Distributed Denial-of-Service (DDoS) attacks generate short, synchronized bursts of traffic that circumvent pattern-based detection and quickly exhaust traditional defense systems. This transient and spatially distributed…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

The paradigm of Cyber-Physical Systems of Systems (CPSoS) is becoming rather popular in the control systems research community because of its expressive power able to properly handle many engineered complex systems of interest.…

Phase, time, and frequency coordination are crucial for the coherent operation of distributed antenna arrays. This paper demonstrates a high accuracy decentralized time synchronization method for arrays with dynamic connectivity. To…

This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…

In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…

We study the problem of distributed hypothesis testing over a network of mobile agents with limited communication and sensing ranges to infer the true hypothesis collaboratively. In particular, we consider a scenario where there is an…