相关论文: Distributed Hierarchical Distribution Control for …

To improve the efficiency of warehousing system and meet huge customer orders, we aim to solve the challenges of dimension disaster and dynamic properties in hyper scale multi-robot task planning (MRTP) for robotic mobile fulfillment system…

This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…

Handheld devices, while growing rapidly, are inherently constrained and lack the capability of executing resource hungry applications. This paper presents the design and implementation of distributed analysis and load-balancing system for…

This paper addresses the path-planning challenge for very large-scale robotic systems (VLSR) operating in complex and cluttered environments. VLSR systems consist of numerous cooperative agents or robots working together autonomously.…

In a warehouse environment, tasks appear dynamically. Consequently, a task management system that matches them with the workforce too early (e.g., weeks in advance) is necessarily sub-optimal. Also, the rapidly increasing size of the action…

With rapid developments of information and technology, large scale network data are ubiquitous. In this work we develop a distributed spectral clustering algorithm for community detection in large scale networks. To handle the problem, we…

This article introduces a decentralized robust optimization framework for safe multi-agent control under uncertainty. Although stochastic noise has been the primary form of modeling uncertainty in such systems, these formulations might fall…

The cross-domain multicast routing problem in a software-defined wireless network with multiple controllers is a classic NP-hard optimization problem. As the network size increases, designing and implementing cross-domain multicast routing…

This study addresses a distributed optimization with a novel class of coupling of variables, called clique-wise coupling. A clique is a node set of a complete subgraph of an undirected graph. This setup is an extension of pairwise coupled…

We study high-dimensional stochastic optimal control problems in which many agents cooperate to minimize a convex cost functional. We consider both the full-information problem, in which each agent observes the states of all other agents,…

This paper proposes a novel approach to address the challenges of deploying complex robotic software in large-scale systems, i.e., Centralized Nonlinear Model Predictive Controllers (CNMPCs) for multi-agent systems. The proposed approach is…

In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…

Intelligent wireless networks have long been expected to have self-configuration and self-optimization capabilities to adapt to various environments and demands. In this paper, we develop a novel distributed hierarchical deep reinforcement…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

This paper studies the consensus problem of heterogeneous multi-agent systems by the feedforward control and linear quadratic (LQ) optimal control theory. Different from the existing consensus control algorithms, which require to design an…

The coordination of Embodied Multi-Agent Systems in constrained physical environments requires a rigorous balance between safety, scalability, and efficiency. Traditional decentralized approaches, e.g., reactive collision avoidance, are…

This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Recent research works on distributed adaptive networks have intensively studied the case where the nodes estimate a common parameter vector collaboratively. However, there are many applications that are multitask-oriented in the sense that…