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作者：He, Xiaodong; Li, Zhongkui
作者单位：University of Science & Technology Beijing; Peking University
摘要：This article considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common research works, which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid body and introduce both of position and orientation constraints for the robot's final states. In other words, the robot should not only reach the specified position, but also point to the desired orientation simultaneously. The challenge of this proble...
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作者：Zegers, Federico M.; Guralnik, Dan P.; Dixon, Warren E.
作者单位：Johns Hopkins University; Johns Hopkins University Applied Physics Laboratory; State University System of Florida; University of Florida
摘要：This article explores the rendezvous problem for a multiagent system (MAS) with distance-limited, intermittent communication and sensing. Unlike previous works that provide specific event-triggered controllers, we provide a framework that characterizes a family of distributed event-triggered controllers leveraging nonsingular edge-potentials to achieve approximate rendezvous while maintaining the initial distance-limited graph. The proposed framework excludes the possibility of Zeno behavior a...
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作者：Wang, Ji; Diagne, Mamadou
作者单位：Xiamen University; University of California System; University of California San Diego
摘要：This article presents a delay-adaptive boundary control scheme for a 2 x 2 coupled linear hyperbolic partial differential equation (PDE)-ordinary differential equation (ODE) cascade system with an unknown and arbitrarily long input delay. To construct a nominal delay-compensated control law, assuming a known input delay, a three-step backstepping design is used. To build the delay-adaptive boundary control law, the nominal control action is fed with the estimate of the unknown delay, which is ...
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作者：Grontas, Panagiotis D.; Belgioioso, Giuseppe; Cenedese, Carlo; Fochesato, Marta; Lygeros, John; Dorfler, Florian
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：Hierarchical decision making problems, such as bilevel programs and Stackelberg games, are attracting increasing interest in both the engineering and machine learning communities. Yet, existing solution methods lack either convergence guarantees or computational efficiency, due to the absence of smoothness and convexity. In this work, we bridge this gap by designing a first-order hypergradient-based algorithm for Stackelberg games and mathematically establishing its convergence using tools fro...
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作者：Welikala, Shirantha; Lin, Hai; Antsaklis, Panos J.
作者单位：Stevens Institute of Technology; University of Notre Dame
摘要：This article considers the problem of decentralized analysis and control synthesis to verify and enforce properties like stability and dissipativity of large-scale networked systems comprised of linear subsystems interconnected in an arbitrary topology. In particular, we design systematic networked system analysis and control synthesis processes that can be executed in a decentralized manner with minimal information sharing among the subsystems. We also show that, for such decentralized proces...
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作者：Zhang, Meng; Chen, Tianshi; Mu, Biqiang
作者单位：Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; The Chinese University of Hong Kong, Shenzhen; The Chinese University of Hong Kong, Shenzhen; Shenzhen Research Institute of Big Data; The Chinese University of Hong Kong, Shenzhen
摘要：Hyperparameter estimation is a critical aspect of kernel-based regularization methods (KRMs), alongside kernel design. Empirical Bayes (EB) and Stein's unbiased risk estimator (SURE) are two widely used hyperparameter estimators for tuning the unknown hyperparameters associated with the kernel matrix of KRMs. However, EB and SURE exhibit different characteristics in both theory and practice. Theoretically, SURE is asymptotically optimal in terms of minimizing the mean squared error (MSE), wher...
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作者：Bastianello, Nicola; Madden, Liam; Carli, Ruggero; Dall'Anese, Emiliano
作者单位：Royal Institute of Technology; University of British Columbia; University of Padua; University of Colorado System; University of Colorado Boulder; University of Colorado System; University of Colorado Boulder
摘要：This article proposes a framework to study the convergence of stochastic optimization and learning algorithms. The framework is modeled over the different challenges that these algorithms pose, such as 1) the presence of random additive errors (e.g., due to stochastic gradients), and 2) random coordinate updates (e.g., due to asynchrony in distributed set-ups). The article covers both convex and strongly convex problems, and it also analyzes online scenarios, involving changes in the data and ...
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作者：Bianchin, Gianluca; Vaquero, Miguel; Cortes, Jorge; Dall'Anese, Emiliano
作者单位：IE University; University of California System; University of California San Diego; Boston University
摘要：Given a network of agents, we study the problem of designing a distributed algorithm that computes k independent weighted means of the network's initial conditions (namely, the agents agree on a k-dimensional space). Akin to average consensus, this problem finds applications in distributed computing and sensing, where agents seek to simultaneously evaluate k independent functions at a common point by running a single coordination algorithm. We show that linear algorithms can agree on quantitie...
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作者：Bosso, Alessandro; Azzollini, Ilario A.; Baldi, Simone; Zaccarian, Luca
作者单位：University of Bologna; Southeast University - China; Universite de Toulouse; Centre National de la Recherche Scientifique (CNRS); University of Trento
摘要：A distributed controller is designed for the robust adaptive global phase synchronization of a network of uncertain second-order Kuramoto oscillators with a leader system, modeled as an autonomous nonlinear exosystem that communicates the reference signals only to a subset of the oscillators. We propose an adaptive strategy, only assuming knowledge of upper bounds on the unknown oscillators parameters, that exploits a hybrid hysteresis mechanism to obtain global synchronization despite the wel...
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作者：Deutscher, Joachim
作者单位：Ulm University
摘要：This article deals with the data-driven robust output regulation for continuous-time linear time-invariant (LTI) systems. Both the system and the signal form of disturbances are unknown. It is assumed that input-output data on a finite-time interval are available for the system in the presence of disturbances. By making use of the Koopman operator theory, the Koopman eigenvalues and modes of the system and the disturbance model are determined by applying the Krylov dynamic mode decomposition t...
