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Coordination of groups of mobile autonomous agents using nearest neighbor rules
TLDR
In a recent Physical Review Letters article, Vicsek et al. provide simulation results which demonstrate that the nearest neighbor rule they are studying can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent's set of nearest neighbors change with time as the system evolves. Expand
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Flocking in Fixed and Switching Networks
TLDR
This note analyzes the stability properties of a group of mobile agents that align their velocity vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor interaction rules, exchanging information over networks that change arbitrarily (no dwell time between consecutive switches). Expand
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On the stability of the Kuramoto model of coupled nonlinear oscillators
We provide an analysis of the classic Kuramoto model of coupled nonlinear oscillators that goes beyond the existing results for all-to-all networks of identical oscillators. Our work is applicable toExpand
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A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates
TLDR
This paper presents a methodology for safety verification of continuous and hybrid systems in the worst-case and stochastic settings with nonlinear, uncertain, and constrained dynamics. Expand
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Non-Bayesian social learning
TLDR
We develop a dynamic model of opinion formation in social networks when the information required for learning a parameter may not be at the disposal of any single agent. Expand
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Safety Verification of Hybrid Systems Using Barrier Certificates
TLDR
This paper presents a novel methodology for safety verification of hybrid systems. Expand
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Stable flocking of mobile agents, part I: fixed topology
TLDR
We generate stable flocking motion for a group of autonomous mobile agents using a coordination control scheme which gives rise to smooth control laws for the agents. Expand
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Online optimization in dynamic environments: Improved regret rates for strongly convex problems
TLDR
In this paper, we address tracking of a time-varying parameter with unknown dynamics. Expand
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Stable flocking of mobile agents part I: dynamic topology
TLDR
This is the second of a two-part paper, investigating the stability properties of a system of multiple mobile agents with double integrator dynamics. Expand
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Unconstrained receding-horizon control of nonlinear systems
TLDR
We provide a complete analysis of the stability and region of attraction/operation properties of receding horizon control strategies that utilize finite horizon approximations in the proposed class, where significant improvements in guaranteed region of operation and cost are noted. Expand
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