相关论文: Cooperative Target Defense under Communication and…

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…

Decentralized control systems are widely used in a number of situations and applications. In order for these systems to function properly and achieve their desired goals, information must be propagated between agents, which requires…

Existing data-driven control methods generally do not address False Data Injection (FDI) and Denial-of-Service (DoS) attacks simultaneously. This letter introduces a distributed data-driven attack-resilient consensus problem under both FDI…

We propose a simple yet efficient scheme for a set of energy-harvesting sensors to establish secure communication with a common destination (a master node). An eavesdropper attempts to decode the data sent from the sensors to their common…

This paper presents a cooperative target defense strategy using nonlinear model-predictive control (NMPC) framework for a two--targets two--attackers (2T2A) game. The 2T2A game consists of two attackers and two targets. Each attacker needs…

Collaborative Perception (CP) has shown great potential to achieve more holistic and reliable environmental perception in intelligent unmanned systems (IUSs). However, implementing CP still faces key challenges due to the characteristics of…

The paper considers the problem of multi-agent consensus in the presence of adversarial agents which may try to prevent and introduce undesired influence on the coordination among the regular agents. To our setting, we extend the so-called…

The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…

This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…

In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…

This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially accounts for the constraints imposed by the interceptor's…

This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…

This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…

This paper addresses the problem of restricted airspace protection from invaders using the cooperative multi-UAV system. The objective is to detect and capture the invaders cooperatively by a team of homogeneous UAVs (called evaders)before…

This paper considers the problem of acquiring an unknown target location (among a finite number of locations) via a sequence of measurements, where each measurement consists of simultaneously probing a group of locations. The resulting…

This paper presents a multi-mode solution to the problem of defending a circular protected area (target) from a wide range of attacks by swarms of risk-taking and/or risk-averse attacking agents (attackers). The proposed multi-mode solution…

A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…

In Emergent Communication (EC) agents learn to communicate with one another, but the protocols that they develop are specialised to their training community. This observation led to research into Zero-Shot Coordination (ZSC) for learning…

In this article, we propose a centralized Multi-Agent Learning framework for learning a policy that models the simultaneous behavior of multiple agents that need to coordinate to solve a certain task. Centralized approaches often suffer…

This paper studies a pursuit-evasion problem involving a single pursuer and a single evader, where we are interested in developing a pursuit strategy that doesn't require continuous, or even periodic, information about the position of the…