Coverage control for mobile sensing networks
- J. Cortés, S. Martínez, Timur Karatas, F. Bullo
- Computer ScienceIEEE Transactions on Robotics and Automation
- 7 August 2002
This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.
Finite-time convergent gradient flows with applications to network consensus
- J. Cortés
- Mathematicsat - Automatisierungstechnik
- 1 November 2006
Distributed convex optimization via continuous-time coordination algorithms with discrete-time communication
SPATIALLY-DISTRIBUTED COVERAGE OPTIMIZATION AND CONTROL WITH LIMITED-RANGE INTERACTIONS
This paper analyzes a class of aggregate objective functions and proposes coverage algorithms in continuous and discrete time that have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs.
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
Distributed Continuous-Time Convex Optimization on Weight-Balanced Digraphs
This study sets the basis for the design of an alternative distributed dynamics which it is shown is guaranteed to converge, on any strongly connected weight-balanced digraph, to the set of minimizers of a sum of convex differentiable functions with globally Lipschitz gradients.
Coordination and Geometric Optimization via Distributed Dynamical Systems
D dynamical systems for disk-covering and sphere-packing problems are discussed and a collection of distributed control laws that are related to nonsmooth gradient systems are designed and analyzed.
Distributed Generator Coordination for Initialization and Anytime Optimization in Economic Dispatch
- A. Cherukuri, J. Cortés
- Computer ScienceIEEE Transactions on Control of Network Systems
- 6 February 2015
A class of distributed Laplacian-gradient dynamics that are guaranteed to asymptotically find the solution to the economic dispatch problem with and without generator constraints are proposed.
Distributed algorithms for reaching consensus on general functions
- J. Cortés
- Mathematics, Computer Scienceat - Automatisierungstechnik
- 1 March 2008
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
This letter extends previously established concepts for barrier functions to a class of nonsmooth barrier functions that operate on systems described by differential inclusions, and validates the results by deploying Boolean compositions of nonsMooth Barrier functions onto a team of mobile robots.