相关论文: Distributed Control for a Multi-Agent System to Pa…

This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…

A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…

In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale…

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…

This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…

This paper investigates the problem of distributed medium access control in a wireless multiple access network with an unknown finite number of homogeneous transmitters. An enhanced physical link layer interface is considered where each…

This is a complete version of the 6-page IEEE TAC technical note [1]. In this paper, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed…

We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…

We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as well as…

This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

In this paper, a distributed convex optimization problem with swarm tracking behavior is studied for continuous-time multi-agent systems. The agents' task is to drive their center to track an optimal trajectory which minimizes the sum of…

In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…

We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…

This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…

This paper proposes a method for the deployment of a multi-agent system of unmanned aerial vehicles (UAVs) as a shield with potential applications in the protection of infrastructures. The shield shape is modeled as a quadric surface in the…

This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…

In the hierarchical control of an islanded microgrid, secondary control could be centralized or distributed. The former control strategy has several disadvantages, such as single point of failure at the level of the central controller as…

This paper investigates the control of flow networks, where the control objective is to regulate the measured output (e.g storage levels) towards a desired value. We present a distributed controller that dynamically adjusts the inputs and…

In this study, we propose a design methodology of distributed controllers for multi-agent systems on a class of directed interaction networks by extending the gradient-flow method. Although the gradient-flow method is a common design tool…