Michael M. Zavlanos

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The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global(More)
Control of mobile networks raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In particular, in applications involving mobile sensor networks and multiagent systems, a great new challenge is the development of distributed motion algorithms that guarantee connectivity of the overall network. Motivated by the(More)
The assignment problem constitutes one of the fundamental problems in the context of linear programming. Besides its theoretical significance, its frequent appearance in the areas of distributed control and facility allocation, where the problems’ size and the cost for global computation and information can be highly prohibitive, gives rise to the need for(More)
In this paper we provide a theoretical framework for controlling graph connectivity in mobile robot networks. We discuss proximity-based communication models composed of disk-based or uniformly-fading-signal-strength communication links. A graph theoretic definition of connectivity is provided, as well as an equivalent definition based on algebraic graph(More)
A navigation functions’ based methodology, established in our previous work for centralized multiple robot navigation, is extended to address the problem of decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a(More)
The control of mobile networks of multiple agents raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In this paper, we consider the problem of controlling a network of agents so that the resulting motion always preserves the connectivity property of the network. In particular, the connectivity condition is(More)
Gene regulatory networks capture interactions between genes and other cell substances, resulting in various models for the fundamental biological process of transcription and translation. The expression levels of the genes are typically measured as mRNA concentration in micro-array experiments. In a so-called genetic perturbation experiment, small(More)
In this note, we address the combined problem of motion and network topology control in a group of mobile agents with common objective the flocking behavior of the group. Instead of assuming network connectivity, we enforce it by means of distributed topology control that decides on both deletion and creation of agent links, adapting the network to the(More)