The analysis and design of scalable distributed algorithms for spatial deployment is an
important problem in the area of multi-robot systems. For very large swarms, this can be …

This paper presents a method to control the probability density distribution of a swarm of
vehicles via velocity fields. The proposed approach synthesizes smooth velocity fields …

In this work, we design distributed control laws for spatial self-organization of multi-agent
swarms in 1D and 2D spatial domains. The objective is to achieve a desired density …

State-dependent networked dynamic systems are ones where the interconnections between
agents change as a function of the states of the agents. Such systems are highly nonlinear …

In this work, we develop a novel Human-Swarm Interaction (HSI) framework for formation
control using the notion of an interpreter, enabling the user to control a robotic swarm's …

In this paper, we consider controlling a spacecraft swarm in a circular low Earth orbit (LEO)
via controlling its density distribution. We build on our previous research on decentralized …

This work considers controlling large-scale spacecraft swarms to achieve complex spatial
configuration. A novel distributed guidance algorithm is proposed based on Inhomogeneous …

As robots become more integrated into society, their reasoning and actions will invariably be
evaluated by human decision makers. Thus, robots need to perceive, act, and reason like …

This dissertation focuses on three main aspects of control theory applied to networked
dynamical systems--how to control networked systems, how to design networks to facilitate …