Dusan M. Stipanovic

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We present a decentralized optimization method for solving the coordination problem of interconnected nonlinear discrete-time dynamic systems with multiple decision makers. The optimization framework embeds the inherent structure in which each decision maker has a mathematical model that captures only the local dynamics and the associated interconnecting(More)
In this paper a new algorithm for discrete-time overlapping decentralized state estimation of large scale systems is proposed in the form of a multi-agent network based on a combination of local Kalman filters and a dynamic consensus strategy, assuming intermittent observations and communication faults. Conditions are derived for the algorithm to provide,(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 study the problem of formation control and trajectory tracking for a group of robotic systemsmodeled by Lagrangian dynamics. The objective is to achieve and maintain a stable formation for a group of multiagent systems, while guaranteeing tracking of a specified trajectory. In order to do so, we partition the state space for the collective system into(More)
This paper presents theoretical and experimental results on bilateral teleoperation of multiple mobile slave agents coupled to a single master robot. We first design a passifying proportional-derivative (PD) controller to enforce motion tracking and formation control of master and slave vehicles under constant, bounded communication delays. Then, we(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)
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)
In this paper an algorithm for decentralized multiagent estimation of parameters in linear discrete-time regression models is proposed in the form of a combination of local stochastic 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)