Event-driven strategies for multi-agent systems are motivated by the future use of embedded microprocessors with limited resources that will gather information and actuate individual agent controller updates. The updates considered here event-driven, depending on ratio a certain measurement error respect to norm function state, applied first order agreement problem. A centralized formulation is then its distributed counterpart, in which agents require knowledge only their neighbors' states...

In this note, a decentralized feedback control strategy that drives system of multiple nonholonomic unicycles to rendezvous point in terms both position and orientation is introduced.The proposed law discontinuous time-invariant using tools from nonsmooth Lyapunov theory graph the stability overall examined.Similarly linear case, convergence multi-agent relies on connectivity communication represents inter-agent topology.The first defined order guarantee maintenance for an initially...

We propose two novel dynamic event-triggered control laws to solve the average consensus problem for first-order continuous-time multiagent systems over undirected graphs. Compared with most existing triggering laws, proposed involve internal variables, which play an essential role in guaranteeing that time sequence does not exhibit Zeno behavior. Moreover, some are special cases of ours. For self-triggered algorithm, continuous agent listening is avoided as each predicts its next and...

In this paper, event-triggered strategies for control of discrete-time systems are proposed and analyzed. Similarly to the continuous-time case, plant is assumed input-to-state stable with respect measurement errors law updated once a triggering condition involving norm error violated. The results also extended self-triggered formulation, where next updates decided at previous ones, thus relaxing need continuous monitoring error. overall framework then used in novel Model Predictive Control...

Event-driven strategies for multi-agent systems are motivated by the future use of embedded microprocessors with limited resources that will gather information and actuate individual agent controller updates. The control actuation updates considered in this paper event-driven, depending on ratio a certain measurement error respect to norm function state, applied first order agreement problem. A centralized formulation problem is then results extended decentralized counterpart, which agents...

The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. Existing are computationally demanding and hence often not applicable in practice. Especially with respect to multi-robot systems, these do scale computationally. In this letter, we propose a framework that is based on barrier functions signal logic. particular, timevarying considered where the properties used satisfy tasks. resulting controller given by...

This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input each agent can be written as product gain, sum interaction functions. By using integral Lyapunov functions, we prove stability proposed protocols, explicitly characterize equilibrium set. also proportional-integral (PI) controller The PI successfully attenuate constant disturbances in network. that agents with...

We propose a cooperative motion and task planning scheme for multi-agent systems where the agents have independently assigned local tasks, specified as linear temporal logic formulas. These tasks contain hard soft sub-specifications. A least-violating initial plan is synthesized first potentially infeasible partially-known workspace. This discrete then implemented by potential-field-based navigation controllers. While system runs, each agent updates its knowledge about workspace via sensing...

A distributed swarm aggregation algorithm is developed for a team of multiple kinematic agents. Specifically, each agent assigned control law, which the sum two elements: repulsive potential field, responsible collision avoidance objective, and an attractive forces agents to converge configuration where they are close other. Furthermore, field that initially located within sensing radius remain this area all time. In way, connectivity properties formed communication graph rendered invariant...

This paper investigates event-triggered pinning control for the synchronization of complex networks nonlinear dynamical systems. We consider described by time-varying weighted graphs and featuring generic linear interaction protocols. Sufficient conditions absence Zeno behavior are derived exponential convergence a global normed error function is proven. Static considered as special case, wherein existence lower bound interevent times also Numerical examples demonstrate effectiveness...

This paper examines stability properties of distance-based formations. These are formations encoded by inter-agent relative distances. A negative gradient control law is proposed and shown to be provably correct when the formation graph a tree. Moreover, it that tree structure necessary sufficient condition for stabilization with laws. For graphs contain cycles, characterization resulting equilibria given based on cycle space graph. The results also applied flocking motion double integrator agents.

A distributed control law that guarantees connectivity maintenance in a network of multiple mobile agents is presented. The law, which lets the perform formation manoeuvres, respects sensor limitations by allowing each agent to only take into account within its sensing radius. In contrast previous approaches problem, proposed does not attain infinite values whenever an edge communication graph tends be lost. This achieved via use decentralised navigation functions, are bounded potential...

This paper describes a framework for automatically generating optimal action-level behavior team of robots based on temporal logic mission specifications under resource constraints. The proposed approach optimally allocates separable tasks to available robots, without requiring priori an explicit representation the or computation all task execution costs. Instead, we propose identifying sub-tasks in automaton specification and simultaneously allocating planning their execution. avoids need...

This article addresses the tracking control problem of 3-D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. More specifically, robust nonlinear model predictive (NMPC) scheme is presented case autonomous (AUVs) (i.e., unicycle-like actuated only surge, heave, and yaw). The purpose controller to steer AUV desired trajectory with guaranteed input state constraints (e.g., obstacles, predefined vehicle velocity bounds, thruster...

In this paper, we propose a self-triggered formulation of model predictive control for continuous-time nonlinear input-affine networked systems. Our method specifies not only when to execute tasks but also provides way discretize the optimal trajectory into several samples, so that reduction communication load will be obtained. Stability analysis under sample-and-hold implementation is given, which guarantees state converges terminal region where system can stabilized by local feedback...