“I don't want to achieve immortality through my work... I want to achieve it through not dying.”—
Woody Allen The emergence of (relatively) cheap sensing and actuation nodes, capable of …

This paper provides a theoretical framework for analysis of consensus algorithms for multi-
agent networked systems with an emphasis on the role of directed information flow …

In this paper, the problem of driving a collection of mobile robots to a given target destination
is studied. In particular, we are interested in achieving this transfer in an orderly manner so …

We study the convergence speed of distributed iterative algorithms for the consensus and
averaging problems, with emphasis on the latter. We first consider the case of a fixed …

In this note, a decentralized feedback control strategy that drives a system of multiple
nonholonomic unicycles to a rendezvous point in terms of both position and orientation is …

We present a detailed study on the design of decentralized receding horizon control (RHC)
schemes for decoupled systems. We formulate an optimal control problem for a set of …

In this paper we propose a decentralized algorithm to increase the connectivity of a multi-
agent system. The connectivity property of the multi-agent system is quantified through the …

In this note, we consider the flocking of multiple agents which have significant inertias and
evolve on a balanced information graph. Here, by flocking, we mean that all the agents …

A distributed swarm aggregation algorithm is developed for a team of multiple kinematic
agents. Specifically, each agent is assigned a control law, which is the sum of two elements …

In this paper, a feedback control strategy that achieves convergence of a multi-agent system
to a desired formation configuration is proposed for both the cases of agents with single …