相关论文: A Framework on Fully Distributed State Estimation …

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…

The paper studies distributed static parameter (vector) estimation in sensor networks with nonlinear observation models and noisy inter-sensor communication. It introduces \emph{separably estimable} observation models that generalize the…

This paper deals with the design of scheduling logics for Networked Control Systems (NCSs) whose communication networks have limited capacity. We assume that only a subset of the plants can communicate with their controllers at any time…

This work presents a novel general regularized distributed solution for the state estimation problem in networked systems. Resting on the graph-based representation of sensor networks and adopting a multivariate least-squares approach, the…

In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

This paper presents a distributed traffic state estimation framework in which infrastructure sensors and connected vehicles act as autonomous, cooperative sensing nodes. These nodes share local traffic estimates with nearby nodes using…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

We consider a multitask estimation problem where nodes in a network are divided into several connected clusters, with each cluster performing a least-mean-squares estimation of a different random parameter vector. Inspired by the…

In this paper, a synthesis method for distributed estimation is presented, which is suitable for dealing with large-scale interconnected linear systems with disturbance. The main feature of the proposed method is that local estimators only…

We consider a wireless sensor network consisting of multiple nodes that are coordinated by a fusion center (FC) in order to estimate a common signal of interest. In addition to being coordinated, the sensors are also able to collaborate,…

We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…

Most data-driven analysis and control methods rely on centralized access to system measurements. In contrast, we consider a setting in which the measurements are distributed across multiple agents and raw data are not shared. Each agent has…

This paper proposes a novel distributed interval-valued simultaneous state and input observer for linear time-invariant (LTI) systems that are subject to attacks or unknown inputs injected both on their sensors and actuators. Each agent in…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

In this paper, we address the problem of distributed state estimation for a discrete-time, linear time-invariant system. Building on the framework proposed in [2], we exploit the Jordan canonical form of the system matrix to develop a…

In this article, we focus on the cooperative state estimation problem of a multi-agent system. Each agent is equipped with absolute and relative measurements. The purpose of this research is to make each agent generate its own state…

This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…

This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems.…

This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in…