Learn More
Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure constraint is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a(More)
—We consider the problem of distributed convergence to a Nash equilibrium in a noncooperative game where the players generate their actions based only on online measurements of their individual cost functions, corrupted with additive measurement noise. Exact analytical forms and/or parameters of the cost functions, as well as the current actions of the(More)
— The current interest in coordinating nonlinear dynamical systems with safety guarantees is driven by emerging practical applications. One of the primary objectives in coordination of multiple mechanical systems (agents) is velocity synchronization with guarantees for collision avoidance among the agents. However, previous results in this direction assume(More)
—In this paper an algorithm for decentralized multi-agent estimation of parameters in linear discrete-time regression models is proposed in the form of a combination of local stochas-tic approximation algorithms and a global consensus strategy. An analysis of the asymptotic properties of the proposed algorithm is presented, taking into account both the(More)
In this paper we present a theoretical and experimental result on the control of multi-agent non-holonomic systems. We design and implement a novel decentralized control scheme that achieves dynamic formation control and collision avoidance for a group of non-holonomic robots. First, we derive a feedback law using Lyapunov-type analysis that guarantees(More)
— In this paper we consider the problem of distributed convergence to a Nash equilibrium based on minimal information about the underlying noncooperative game. We assume that the players/agents generate their actions based only on measurements of local cost functions, which are corrupted with additive noise. Structural parameters of their own and other(More)
— Pursuit-evasion games are an important problem in robotics and control, but games with many players are difficult to analyze and solve. This paper studies a game of multiple pursuers cooperating to capture a single evader in a bounded convex polytope in the plane. We present a decentralized control scheme based on the Voronoi partion of the game domain,(More)