相关论文: Event-Based Distributed Linear Quadratic Gaussian …
This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
The efficient exchange of information is an essential aspect of intelligent collective behavior. Event-triggered control and estimation achieve some efficiency by replacing continuous data exchange between agents with intermittent, or…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally require centralised control of all devices which is difficult to…
Networked control systems enable real-time control and coordination of distributed systems, leveraging the low latency, high reliability, and massive connectivity offered by 5G and future 6G networks. Applications include autonomous…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
The main purpose of this paper is to discuss detailed the stochastic LQ control problem with random coefficients where the linear system is a multidimensional stochastic differential equation driven by a multidimensional Brownian motion and…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
We consider a discrete-time Linear-Quadratic-Gaussian (LQG) control problem in which Massey's directed information from the observed output of the plant to the control input is minimized while required control performance is attainable.…
This paper presents a deep Q-network (DQN)-based gain-scheduling framework for safety-critical quadcopter trajectory tracking. Instead of directly learning control inputs, the proposed approach selects from a finite set of pre-certified…
Planning under motion and observation uncertainties requires solution of a stochastic control problem in the space of feedback policies. In this paper, we reduce the general (n^2+n)-dimensional belief space planning problem to an…
In this paper, we propose novel channel-hoppingbased distributed rendezvous algorithm based on grid-basedquorum techniques. The proposed algorithm increases the probability of rendezvous (RDV) within a single cycle by allowing CR nodes to…
Ensuring robust decision-making in multi-agent systems is challenging when agents have distinct, possibly conflicting objectives and lack full knowledge of each other's strategies. This is apparent in safety-critical applications such as…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, energy efficiency remains a critical constraint: quadrotors…
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…
When models are inaccurate, the performance of model-based control will degrade. For linear quadratic control, an event-triggered learning framework is proposed that automatically detects inaccurate models and triggers the learning of a new…