— We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus ...
Zhenqi Huang, Yu Wang, Sayan Mitra, Geir E. Duller...
Abstract— This paper proposes a velocity coordination protocol for the control of multiple unicycle agents, which aims to address two distinct scenarios in a unified manner. The...
— We study two metrics in stochastic consensus dynamics with leaders or stubborn agents: network coherence (defined in terms of the system H2 and H∞ norms), and convergence ra...
Mohammad Pirani, Ebrahim Moradi Shahrivar, Shreyas...
— In this paper, we present a fundamental limitation of disturbance attenuation in discrete-time single-input singleoutput (SISO) feedback systems when the controller has delayed...
— This paper considers a multi-agent consensus problem over strongly connected and balanced directed graphs. Unlike many works that consider continuous or periodic communication ...
— This paper presents a path-planning control for an intermittently actuated oceanographic vehicle in a timeinvariant flow field based on Lagrangian measurement data. The ocean...
Abstract— Robotic walkers are a promising techological direction to improve the mobility of older adults. In this paper, we propose a guidance mechanism based on the differential...
Daniele Fontanelli, Antonio Giannitrapani, Luigi P...
— This paper investigates prediction-based control for nonlinear systems subject to both pointwise input- and (potentially) distributed state-delays. We address infinity-norm st...
Delphine Bresch-Pietri, Nicolas Petit, Miroslav Kr...
— Entropy and information are crucial notions in stochastic communication systems. However, they have arguably not been as central in control theory, which has a rich tradition o...
Abstract— In this work, we present an algorithm for synthesizing distributed control policies for networks of mobile robots such that they gather the maximum amount of informatio...
Kevin Leahy, Austin Jones, Mac Schwager, Calin Bel...