相关论文: A Contract Theory for Layered Control Architecture…

Complex systems of systems (SoS) are characterized by multiple interconnected subsystems. Typically, each subsystem is designed and analyzed using methodologies and formalisms that are specific to the particular subsystem model of…

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…

This paper studies the real-time implementation of distributed controllers on networked cyber-physical systems. We build on the strengths of event- and self-triggered control to synthesize a unified approach, termed team-triggered, where…

This paper presents a two-layer distributed energy resource (DER) coordination architecture that allows for separate ownership of data, operates with data subjected to a large buffering delay, and employs a new measure of power quality. The…

In this paper we present a layered approach for multi-agent control problem, decomposed into three stages, each building upon the results of the previous one. First, a high-level plan for a coarse abstraction of the system is computed,…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

Targeting to use contract-based design for the specification and refinement of extra-functional properties, this research abstract suggests to use type constraints and dependent types to ensure correct and consistent top-down decomposition…

It is common for people to access multiple social networks, for example, using phone, email, and social media. Together, the multi-layer social interactions form a "integrated social network." How can we extend well developed knowledge…

In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…

Composing systems is a fundamental concept in modern control systems, yet it remains challenging to formally analyze how controllers designed for individual subsystems can differ from controllers designed for the composition of those…

This paper presents a compositional framework for the construction of symbolic models for a network composed of a countably infinite number of finite-dimensional discrete-time control subsystems. We refer to such a network as infinite…

This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…

Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and…

Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…

This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…

Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…

Service composition has become commonplace nowadays, in large part due to the increased complexity of software and supporting networks. Composition can be of many types, for instance sequential, prioritising, non-deterministic. However, a…

To strengthen data privacy and security, federated learning as an emerging machine learning technique is proposed to enable large-scale nodes, e.g., mobile devices, to distributedly train and globally share models without revealing their…

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…