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

Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…

Many security protocols rely on the assumptions on the physical properties in which its protocol sessions will be carried out. For instance, Distance Bounding Protocols take into account the round trip time of messages and the transmission…

This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…

In this paper, we address the problem of prescribed-time leader-following consensus of heterogeneous multi-agent systems (MASs) in the presence of unknown sensor sensitivity. Under a connected undirected topology, we propose a time-varying…

We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…

This paper provides a new solution approach to a multi-player perimeter defense game, in which the intruders' team tries to enter the territory, and a team of defenders protects the territory by capturing intruders on the perimeter of the…

In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…

Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…

Automatic dependent surveillance-broadcast (ADS-B) is the communications protocol currently being rolled out as part of next generation air transportation systems. As the heart of modern air traffic control, it will play an essential role…

We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…

Distributed system applications rely on a fine-grain common sense of time. Existing systems maintain the common sense of time by keeping each independent machine as close as possible to wall-clock time through a combination of software…

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

This paper focuses on the problem of recursive nonlinear least squares parameter estimation in multi-agent networks, in which the individual agents observe sequentially over time an independent and identically distributed (i.i.d.)…

The increasing presence of large-scale distributed systems highlights the need for scalable control strategies where only local communication is required. Moreover, in safety-critical systems it is imperative that such control strategies…

This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…

In this paper, we formulate and investigate a generalized consensus algorithm which makes an attempt to unify distributed averaging and maximizing algorithms considered in the literature. Each node iteratively updates its state as a…

For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical…

Intruders can infer properties of a system by measuring the time it takes for the system to respond to some request of a given protocol, that is, by exploiting time side channels. These properties may help intruders distinguish whether a…

Wall-clock convergence time and communication rounds are critical performance metrics in distributed learning with parameter-server setting. While synchronous methods converge fast but are not robust to stragglers; and asynchronous ones can…

We study the convergence speed of distributed iterative algorithms for the consensus and averaging problems, with emphasis on the latter. We first consider the case of a fixed communication topology. We show that a simple adaptation of a…