相关论文: Event-Based Distributed Linear Quadratic Gaussian …

Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…

We study the linear quadratic Gaussian (LQG) control problem, in which the controller's observation of the system state is such that a desired cost is unattainable. To achieve the desired LQG cost, we introduce a communication link from the…

This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one another. In the proposed algorithm, a UAV transmits its…

The paper proposes a distributed eventtriggered consensus approach for linear multi-agent systems with guarantees over rate of convergence, resilience to control gain uncertainties, and Pareto optimality of design parameters, namely, the…

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…

This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…

In this paper, we focus on reducing node-to-node information exchange in distributed control of multiagent networks while improving the overall network performance. Specifically, we consider a multiagent network that is composed of leader…

We present an event-triggered control strategy for stabilizing a scalar, continuous-time, time-invariant, linear system over a digital communication channel having bounded delay, and in the presence of bounded system disturbance. We propose…

This paper studies a discrete-time stochastic control problem with linear quadratic criteria over an infinite-time horizon. We focus on a class of control systems whose system matrices are associated with random parameters involving unknown…

This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an integrator and an uncertain nonlinear actuation system. In…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…

In this paper, we consider a discrete-time stochastic control problem with uncertain initial and target states. We first discuss the connection between optimal transport and stochastic control problems of this form. Next, we formulate a…

One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…

Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems (a.k.a. network systems). To this end, we start by putting forth a novel distributed event-triggering transmission…

Multi-agent mapping is a fundamentally important capability for autonomous robot task coordination and execution in complex environments. While successful algorithms have been proposed for mapping using individual platforms, cooperative…

The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…

Control of nonlinear uncertain systems is a common challenge in the robotics field. Nonlinear latent force models, which incorporate latent uncertainty characterized as Gaussian processes, carry the promise of representing such systems…