A5024022921- Distributed Control Multi-Agent Systems
- Robotic Path Planning Algorithms
- Optimization and Search Problems
- Energy Efficient Wireless Sensor Networks
- Control and Dynamics of Mobile Robots
- Target Tracking and Data Fusion in Sensor Networks
- Neural Networks Stability and Synchronization
- Advanced Control Systems Optimization
- Modular Robots and Swarm Intelligence
- Smart Grid Security and Resilience
- Mathematical and Theoretical Epidemiology and Ecology Models
- Distributed Sensor Networks and Detection Algorithms
- Microgrid Control and Optimization
- Smart Grid Energy Management
- Stability and Control of Uncertain Systems
- Control Systems and Identification
- Traffic control and management
- Optimal Power Flow Distribution
- Indoor and Outdoor Localization Technologies
- Gene Regulatory Network Analysis
- Risk and Portfolio Optimization
- Game Theory and Applications
- Probabilistic and Robust Engineering Design
- Stochastic Gradient Optimization Techniques
- Complex Network Analysis Techniques
University of California, San Diego
2016-2025
Contextual Change (United States)
2019-2025
Institute of Electrical and Electronics Engineers
2019-2023
University of California System
2022
Environmental and Water Resources Engineering
2021
Stanford University
2021
Centrum Wiskunde & Informatica
2020
University of Oxford
2020
Duke University
2020
Systems Technology (United States)
2020
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks, where each plays the role a mobile tunable sensor. proposes gradient descent class utility functions which encode optimal coverage policies. resulting closed-loop behavior adaptive, distributed, asynchronous, verifiably correct.
We consider a general multi-agent convex optimization problem where the agents are to collectively minimize global objective function subject inequality constraint, equality and constraint set. The is defined by sum of local functions, while set produced intersection sets. In particular, we study two cases: one absent, other sets identical. devise distributed primal-dual subgradient algorithms based on characterization optimal solutions as saddle points Lagrangian penalty functions. These...
This paper presents coordination algorithms for networks of mobile autonomous agents. The objective the proposed is to achieve rendezvous, that is, agreement over location agents in network. We provide analysis and design results multiagent arbitrary dimensions under weak requirements on switching failing communication topology. novel correctness proof relies proximity graphs their properties a general LaSalle invariance principle nondeterministic discrete-time dynamical systems
Motion coordination is a remarkable phenomenon in biological systems and an extremely useful tool for groups of vehicles, mobile sensors, embedded robotic systems. For many applications, teams autonomous agents need the ability to deploy over region, assume specified pattern, rendezvous at common point, or move synchronized manner. The objective this article illustrate use theory analyze emergent behaviors animal design reliable networks. We present survey some recently developed theoretical...
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each agent has a limited sensing or communication radius. Based on the geometry Voronoi partitions proximity graphs, analyze class aggregate objective functions propose in continuous discrete time. These have convergence guarantees are spatially distributed with respect to appropriate graphs. Numerical simulations illustrate results.
This technical note studies a resilient control problem for discrete-time, linear time-invariant systems subject to state and input constraints. State measurements commands are transmitted over communication network could be corrupted by adversaries. In particular, we consider the replay attackers who maliciously repeat messages sent from operator actuator. We propose variation of receding-horizon law deal with attacks analyze resulting system performance degradation. A class competitive...
In this paper, we study the problem of determining size battery storage used in grid-connected photovoltaic (PV) systems. our setting, electricity is generated from PV and to supply demand loads. Excess can be stored a later on, must purchased electric grid if generation discharging cannot meet demand. Due time-of-use pricing, also when price low, sold back high. The objective minimize cost associated with purchasing (or selling to) capacity loss while at same time satisfying load reducing...
Technological advances in ad hoc networking and the availability of low-cost reliable computing, data storage, sensing devices have made scenarios possible where coordination many subsystems extends range human capabilities. Smart grid operations, smart transportation, health care, networks for environmental monitoring exploration hazardous situations are just a few examples such network operations. In these applications, ability system to (in decentralized fashion) fuse information, compute...
This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The are based on a gradient descent scheme applied to class utility functions that encode optimal coverage and sensing policies. These studied in geographical optimization problems they arise naturally vector quantization sensor allocation approach exploits computational geometry spatial structures such as Voronoi diagrams.
In this brief, we propose and analyze an algorithm to monitor environmental boundary with mobile agents. The objective is optimally approximate the a polygon. sensors rely only on sensed local information position some interpolation points define approximating We design that distributes vertices of polygon uniformly along boundary. notion uniform placement relies metric inspired by approximation theory for convex bodies. provably convergent static boundaries efficient slowly-moving because...
Fire risk assessment should take into account the most relevant components associated to fire occurrence. To estimate when and where will produce undesired effects, we need model both (a) ignition propagation potential (b) vulnerability. Following these ideas, a comprehensive system is proposed in this paper, which makes extensive use of geographic information technologies offer spatially explicit evaluation conditions. The paper first describes conceptual model, then methods generate...
Summary This paper introduces a novel continuous‐time dynamic average consensus algorithm for networks whose interaction is described by strongly connected and weight‐balanced directed graph. The proposed distributed allows agents to track the of their inputs with some steady‐state error size can be controlled using design parameter. vanishes special classes input signals. We analyze asymptotic correctness under time‐varying topologies characterize requirements on stepsize discrete‐time...
Inspired by current challenges in data-intensive and energy-limited sensor networks, we formulate a coverage optimization problem for mobile sensors as (constrained) repeated multiplayer game. Each tries to optimize its own while minimizing the processing/energy cost. The are subject informational restriction that environmental distribution function is unknown priori. We present two distributed learning algorithms where each only remembers utility values actions played during last plays....
This paper studies the stability of remotely controlled and observed single-input controllable linear systems under power-constrained pulse-width modulated denial-of-service (DoS) signals. The effect a DoS jamming signal is to corrupt communication channels, thus preventing data from being received at its destination. In this work, we first assume that partially known, i.e., uniform lower bound for off time intervals on-to-off transiting instants are known. We then propose type resilient...
In this paper we study the resilience of a continuous LTI system which is controlled remotely via wireless channel. An energy-constrained periodic (partially known) jammer corrupting control communication channel by imposing Denial-of-Service (DoS) attacks. We derive triggering time-sequence, addressing when to update signal under assumption that period has been detected. Then, show that, some sufficient condition, time-sequence counteracts effect and assures asymptotic stability plant....
We consider a multi-agent optimization problem where agents subject to local, intermittent interactions aim minimize sum of local objective functions global inequality constraint and state set. In contrast previous work, we do not require that the objective, functions, sets are convex. order deal with time-varying network topologies satisfying standard connectivity assumption, resort consensus algorithm techniques Lagrangian duality method. slightly relax requirement exact consensus, propose...
<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This paper proposes a formal model for network of robotic agents that move and communicate. Building on concepts from distributed computation, robotics, control theory, we define notions network, communication law, coordination task, time complexity. We illustrate our compute the proposed complexity measures in example locally connected circle agree upon direction motion pursue their immediate...
This paper analyzes a number of basic coordination algorithms running on synchronous robotic networks. We provide upper and lower bounds the time complexity move-toward-average circumcenter laws, both achieving rendezvous, centroid law, deployment over region interest. The results are derived via novel analysis methods, including set convergence rates linear dynamical systems defined by tridiagonal Toeplitz circulant matrices.
We introduce a procedure to adapt local interpolations represent spatial fields as they are measured by mobile sensor network. The scheme incorporates new (synchronous) measurements in similar fashion Kalman filter-like recursion. derive necessary conditions that allow the distributed computation of recursion and present an algorithm makes use agreement rules satisfy them. show how nearest neighbor interpolation is compatible with motion coordination for region coverage proposed in. Finally,...
This paper studies a resilient control problem for discrete-time, linear time-invariant systems subject to state and input constraints. State measurements laws are transmitted over communication network could be corrupted by human adversaries. In particular, we consider class of adversaries, namely correlated jammers, who modeled as rational decision makers whose strategies highly the system operator. The coupled making process is two-level receding-horizon dynamic Stackelberg...