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In the present paper, we provide results on the control of general opinion dynamics systems. The control is applied to one agent only, called the leader. Explicit control laws ensure three complementary desired behaviours of the system: i) drag all agents arbitrarily close to the leader, then ii) make all agents follow the leader toward a targeted value, iii) make all agents converge to a targeted...
Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
The paper considers the consensus problem in large networks represented by time-varying directed graphs. A practical way of dealing with large-scale networks is to reduce their dimension by collapsing the states of nodes belonging to densely and intensively connected clusters into aggregate variables. It will be shown that under suitable conditions, the states of the agents in each cluster converge...
We consider the network reliability problem in wireless sensor networks secured by the heterogeneous random key predistribution scheme. This scheme generalizes Eschenauer-Gligor scheme by considering the cases when the network comprises sensor nodes with varying level of resources; e.g., regular nodes vs. cluster heads. The scheme induces the inhomogeneous random key graph, denoted G(n; μ, K, P)....
This paper studies an extension of Euclidean consensus dynamics to unit spheres. The use of invariant manifolds techniques enables us not only to prove exponential asymptotic stability of the synchronization manifold, but also to show persistence of the synchronization manifold under perturbations. We also consider the case that the agents are subject to a common drift term and show the extension...
We propose a distributed coordination mechanism which enables nodes in a directed graph to accurately estimate their eigenvector centrality (eigencentrality) even if they update their values at times determined by their own clocks. The clocks need neither be synchronized nor have the same speed. The main idea is to let nodes adjust the weights on outgoing links to compensate for their update speed:...
This paper considers the problem of detecting topology variations in networks of linear dynamical systems interconnected via static coupling. The problem of interest is that of finding conditions under which it is possible to detect node or link disconnections from prior knowledge of the nominal network behavior and on-line measurements from all or a fraction of network nodes. Necessary and sufficient...
We consider in this paper a discrete-time deterministic m-ary diffusion model over a strongly connected directed graph. The update rule is easy to state: let the vertices of the graph represent the agents and the edges represent the information flow; at every time step, each vertex updates its value to the maximum value held by its incoming neighbors at the last time step. The resulting system, defined...
This paper proposes a novel algorithm for performing multi-robot coverage on networks with dendritic topology where the communication topology is location dependent and where the motion of each robot is constrained by the presence of the other robots in the network. The algorithm provides complete network coverage by the minimum number of robots, maintenance of communication constraints and robot...
We propose a distributed control scheme for cyclic formations of multi-agent systems using relative position measurements in local coordinate frames. It is assumed that agents cannot communicate with each other and do not have access to global position information. For the case of three and four agents with desired formation defined as a regular polygon, we prove that under the proposed control, starting...
Consider a formation control problem in which agents in Euclidean space are tasked with stabilizing their positions at prescribed target distances from each other, and for which these distances are described by a rigid graph. There is a mismatch in target distances if there is a pair of neighboring agents i and j such that agent i aims to stabilize from agent j at a distance dij, but agent j from...
This paper investigates the leader-follower problem in the presence of potential actuator faults. We focus on continuous-time multi-agent uncertain systems with a directed network topology. Time-varying fault parameters are considered, which relax the assumption in the prior work that the fault parameters of all followers must be fixed. We assume that these parameters can be sampled in an intermittent...
This paper aims to introduce a new framework for the distributed control of multi-agent systems with adjustable swarm control objectives. Our goal is twofold: 1) to provide an overview to how time-varying objectives in the control of autonomous systems may be applied to the distributed control of multi-agent systems with variable autonomy level, and 2) to introduce a framework to incorporate the proposed...
We consider a dynamic average consensus problem where a group of agents is required to track the average of their time-varying inputs. We assume that the inputs are sinusoidal with a single unknown frequency. We develop a distributed two-time-scale estimator that estimates the unknown frequency and achieves average consensus of the inputs. We establish input-to-state (ISS) properties of the estimator...
In this paper, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of decentralization. The methodology is based on the analysis employed in our recent work, where decentralized abstractions based exclusively on the information of each agent's neighbors were derived. In the first part of this...
This paper presents a solution to the rendezvous control problem for a network of unicycles on the plane. A smooth, time-invariant control law is presented that drives the unicycles to a common position from arbitrary initial conditions. Each unicycle is equipped with an onboard camera and can measure its relative displacement to its neighbors in body frame. The feedback is a function only of these...
Most of the proposed methods in literature on multi-target interception and related problems such as pursuit-evasion still suffer from a major drawback: They do not account for the uncertainties inherited in the environment in many applications. In the authors' previous work, multi-target interception problem was investigated where uncertainties in the environment stem from the fact that targets were...
The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with respect to one-robot failure, the communication network is termed biconnected. In simple words, to have a biconnected network graph, we need to prove that no articulation point exists. We propose a decentralized approach...
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