相关论文: Cooperative Control of Multi-Channel Linear System…
Large-scale multi-agent cooperative control problems have materially enjoyed the scalability, adaptivity, and flexibility of decentralized optimization. However, due to the mandatory iterative communications between the agents and the…
Communication could potentially be an effective way for multi-agent cooperation. However, information sharing among all agents or in predefined communication architectures that existing methods adopt can be problematic. When there is a…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
The cooperative output regulation problem of linear multi-agent systems was formulated and studied by the distributed observer approach in [20, 21]. Since then, several variants and extensions have been proposed, and the technique of the…
This paper asks a new question: how can we control the collective behavior of self-organized multi-agent systems? We try to answer the question by proposing a new notion called 'Soft Control', which keeps the local rule of the existing…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…
As multi-agent systems proliferate, there is increasing demand for coordination protocols that protect agents' sensitive information while allowing them to collaborate. To help address this need, this paper presents a differentially private…
The problem of controlling multi-agent systems under different models of information sharing among agents has received significant attention in the recent literature. In this paper, we consider a setup where rather than committing to a…
This paper presents a two-phase cooperative communication strategy and an optimal power allocation strategy to transmit sensor observations to a fusion center in a large-scale sensor network. Outage probability is used to evaluate the…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation…
In multi-agent planning, agents jointly compute a plan that achieves mutual goals, keeping certain information private to the individual agents. Agents' coordination is achieved through the transmission of messages. These messages can be a…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
Effective coordination of agents actions in partially-observable domains is a major challenge of multi-agent systems research. To address this, many researchers have developed techniques that allow the agents to make decisions based on…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…
Consider a collaborative task carried out by two autonomous agents that are able to communicate over a noisy channel. Each agent is only aware of its own state, while the accomplishment of the task depends on the value of the joint state of…
This work considers the problem of mitigating information leakage between communication and sensing in systems jointly performing both operations. Specifically, a discrete memoryless state-dependent broadcast channel model is studied in…
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…