Change search
Refine search result
1 - 15 of 15
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rows per page
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sort
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
Select
The maximal number of hits you can export is 250. When you want to export more records please use the Create feeds function.
  • 1.
    Adaldo, Antonio
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Event-triggered and cloud-support control of multi-robot systems2018Doctoral thesis, monograph (Other academic)
    Abstract [en]

    In control of multi-robot systems, the aim is to obtain a coordinated behavior through local interactions among the robots. A multi-agent system is an abstract model of a multi-robot system. In this thesis, we investigate multi-agent systems where inter-agent communication is modeled by discrete events triggered by conditions on the internal state of the agents. We consider two models of communication. In the first model, two agents exchange information directly with each other. In the second model, all information is exchanged asynchronously over a shared repository. Four contributions on control algorithms for multi-agent systems are offered in the thesis. The first contribution is an event-triggered pinning control algorithm for a network of agents with nonlinear dynamics and time-varying topology. Pinning control is a strategy to steer the behavior of the system in a desired manner by controlling only a small fraction of the agents. We express the controllability of the network in terms of an average value of the network connectivity over time, and we show that all the agents can be driven to a desired reference trajectory. The second contribution is a control algorithm for multi-agent systems where inter-agent communication is substituted with a shared remote repository hosted on a cloud. The communication between each agent and the cloud is modeled as a sequence of events scheduled recursively by the agent. We quantify the connectivity of the network and we show that it is possible to synchronize the multi-agent system to the same state trajectory, while guaranteeing that two consecutive cloud accesses by the same agent are separated by a lower-bounded time interval. The third contribution is a family of distributed controllers for coverage and surveillance tasks with a network of mobile agents with anisotropic sensing patterns. We develop an abstract model of the environment under inspection and define a measure of the coverage attained by the sensor network. We show that the network attains nondecreasing coverage, and we characterize the equilibrium configurations of the network. The fourth contribution is a distributed, cloud-supported control algorithm for inspection of 3D structures with a network of mobile sensing agents, similar to those considered in the third contribution. We develop an abstract model of the structure to inspect and quantify the degree of completion of the inspection. We demonstrate that, under the proposed algorithm, the network is guaranteed to complete the inspection in finite time. All results presented in the thesis are corroborated by numerical simulations and sometimes by experiments with aerial robotic platforms. The experiments show that the theory and methods developed in the thesis are of practical relevance.

  • 2.
    Adaldo, Antonio
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Event-triggered control of multi-agent systems: pinning control, cloud coordination, and sensor coverage2016Licentiate thesis, monograph (Other academic)
    Abstract [en]

    A multi-agent system is composed of interconnected subsystems, or agents. In control of multi-agent systems, the aim is to obtain a coordinated behavior of the overall system through local interactions among the agents. Communication among the agents often occurs over a wireless medium with finite capacity. In this thesis, we investigate multiagent control systems where inter-agent communication is modelled by discrete events triggered by state conditions.

    In the first part, we consider event-triggered pinning control for a network of agents with nonlinear dynamics and time-varying topologies. Pinning control is a strategy to steer the behavior of a multi-agent system in a desired manner by controlling only a small fraction of the agents. We express the controllability of the network in terms of an average value of the network connectivity over time, and we show that all the agents can be driven to a desired reference trajectory.

    In the second part, we propose a control algorithm for multi-agent systems where inter-agent communication is substituted with a shared remote repository hosted on a cloud. Communication between each agent and the cloud is modelled as a sequence of events scheduled recursively by the agent. We quantify the connectivity of the network and we show that it is possible to synchronize the multi-agent system to the same state trajectory, while guaranteeing that two consecutive cloud accesses by the same agent are separated by a finite time interval.

    In the third part, we propose a family of distributed algorithms for coverage and inspection tasks for a network of mobile sensors with asymmetric footprints. We develop an abstract model of the environment under inspection and define a measure of the coverage attained by the sensor network. We show that the sensor network attains nondecreasing coverage, and we characterize the equilibrium configurations. The results presented in the thesis are corroborated by simulations or experiments.

  • 3.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Alderisio, Francesco
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Liuzza, Davide
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Shi, Guodong
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    di Bernardo, Mario
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Event-triggered pinning control of complex networks with switching topologies2014In: Proceedings of the 53rd annual IEEE Conference on Decision and Control, 2014, p. 2783-2788Conference paper (Refereed)
    Abstract [en]

    This paper investigates the problem of eventtriggered pinning control for the synchronization of networks of nonlinear dynamical agents onto a desired reference trajectory. The pinned agents are those that have access to the reference trajectory. We consider both static and switching topologies. We prove that the system is well posed and identify conditions under which the network achieves exponential convergence. A lower bound for the rate of convergence is also derived. Numerical examples demonstrating the effectiveness of the results are provided.

  • 4.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Alderisio, Francesco
    Liuzza, Davide
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Shi, Guodong
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    di Bernardo, Mario
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. University of Naples Federico II, Italy.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Event-Triggered Pinning Control of Switching Networks2015In: IEEE Transactions on Control of Network Systems, ISSN 2325-5870, Vol. 2, no 2, p. 204-213, article id 7098382Article in journal (Refereed)
    Abstract [en]

    This paper investigates event-triggered pinning control for the synchronization of complex networks of nonlinear dynamical systems. We consider networks described by time-varying weighted graphs and featuring generic linear interaction protocols. Sufficient conditions for the absence of Zeno behavior are derived and exponential convergence of a global normed error function is proven. Static networks are considered as a special case, wherein the existence of a lower bound for interevent times is also proven. Numerical examples demonstrate the effectiveness of the proposed control strategy.

  • 5.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Cloud-supported effective coverage of 3D structures2018In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 95-100, article id 8550377Conference paper (Refereed)
    Abstract [en]

    In this paper, we present a distributed algorithm for cloud-supported effective coverage of 3D structures with a network of sensing agents. The structure to inspect is abstracted into a set of landmarks, where each landmark represents a point or small area of interest, and incorporates information about position and orientation. The agents navigate the environment following the proposed control algorithm until all landmarks have reached a satisfactory level of coverage. The agents do not communicate with each other directly, but exchange data through a shared cloud repository which is accessed asynchronously and intermittently. We show formally that, under the proposed control architecture, the networked agents complete the coverage mission in finite time. The results are corroborated by simulations in ROS, and experimental evaluation is in progress.

  • 6.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Hybrid coverage and inspection control for anisotropic mobile sensor teams2017In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 613-618Article in journal (Refereed)
    Abstract [en]

    In this paper, we present an algorithm for pose control of a team of mobile sensors for coverage and inspection applications. The region to cover is abstracted into a finite set of landmarks, and each sensor is responsible to cover some of the landmarks. The sensors progressively improve their coverage by adjusting their poses and by transferring the ownership of some landmarks to each other. Inter-sensor communication is pairwise and intermittent. The sensor team is formally modeled as a multi-agent hybrid system, and an invariance argument formally shows that the team reaches an equilibrium configuration, while a global coverage measure is improving monotonically. A numerical simulation corroborates the theoretical results.

  • 7.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Liuzza, D.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Coordination of multi-agent systems with intermittent access to a cloud repository2017In: Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017, Springer, 2017, Vol. 474, p. 453-471Conference paper (Refereed)
    Abstract [en]

    A cloud-supported multi-agent system is composed of autonomous agents required to achieve a common coordination objective by exchanging data over a shared cloud repository. The repository is accessed asychronously by different agents, and direct inter-agent commuication is not possible. This model is motivated by the problem of coordinating a fleet of autonomous underwater vehicles, with the aim to avoid the use of expensive and power-hungry modems for underwater communication. For the case of agents with integrator dynamics, a control law and a rule for scheduling the cloud access are formally defined and proven to achieve the desired coordination. A numerical simulation corroborate the theoretical results.

  • 8.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Liuzza, Davide
    Univ Sannio, Dept Engn, I-82100 Benevento, Italy..
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Cloud-Supported Formation Control of Second-Order Multiagent Systems2018In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 4, p. 1563-1574Article in journal (Refereed)
    Abstract [en]

    This paper addresses a formation problem for a network of autonomous agents with second-order dynamics and bounded disturbances. Coordination is achieved by having the agents asynchronously upload (download) data to (from) a shared repository, rather than directly exchanging data with other agents. Well-posedness of the closed-loop system is demonstrated by showing that there exists a lower bound for the time interval between two consecutive agent accesses to the repository. Numerical simulations corroborate the theoretical results.

  • 9.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Liuzza, Davide
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Multi-Agent Trajectory Tracking with Self-Triggered Cloud Access2016In: 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 2207-2214, article id 7798591Conference paper (Refereed)
    Abstract [en]

    This paper presents a cloud-supported control algorithm for coordinated trajectory tracking of networked autonomous agents. The motivating application is the coordinated control of Autonomous Underwater Vehicles. The control objective is to have the vehicles track a reference trajectory while keeping an assigned formation. Rather than relying on inter-agent communication, which is interdicted underwater, coordination is achieved by letting the agents intermittently access a shared information repository hosted on a cloud. An event-based law is proposed to schedule the accesses of each agent to the cloud. We show that, with the proposed scheduling of the cloud accesses, the agents achieve the required coordination objective. Numerical simulations corroborate the theoretical results.

  • 10.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Liuzza, Davide
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Control of Multi-Agent Systems with Event-Triggered Cloud Access2015In: Proceedings of the 14th annual European Control Conference, 2015Conference paper (Refereed)
  • 11.
    Adaldo, Antonio
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Mansouri, S. S.
    Kanellakis, C.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Nikolakopoulos, G.
    Cooperative coverage for surveillance of 3D structures2017In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1838-1845Conference paper (Refereed)
    Abstract [en]

    In this article, we propose a planning algorithm for coverage of complex structures with a network of robotic sensing agents, with multi-robot surveillance missions as our main motivating application. The sensors are deployed to monitor the external surface of a 3D structure. The algorithm controls the motion of each sensor so that a measure of the collective coverage attained by the network is nondecreasing, while the sensors converge to an equilibrium configuration. A modified version of the algorithm is also provided to introduce collision avoidance properties. The effectiveness of the algorithm is demonstrated in a simulation and validated experimentally by executing the planned paths on an aerial robot.

  • 12. Boccia, Antonio
    et al.
    Adaldo, Antonio
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    di Bernardo, Mario
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Tracking a mobile target by multi-robot circumnavigation using bearing measurements2017In: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, IEEE , 2017, p. 1076-1081Conference paper (Refereed)
    Abstract [en]

    In this paper, we study a problem of target tracking and circumnavigation with a network of autonomous agents. We propose a distributed algorithm to estimate the position of the target and drive the agents to rotate around it while forming a regular polygon and keeping a desired distance. We formally show that the algorithm attains exponential convergence of the agents to the desired polygon if the target is stationary, and bounded convergence if the target is moving with bounded speed. Numerical simulations corroborate the theoretical results and demonstrate the resilience of the network to addition and removal of agents.

  • 13.
    Cavaliere, Clara
    et al.
    Univ Naples Federico II, Dept Elect Engn & Informat Technol, Naples, Italy..
    Mariniello, Dario
    Univ Naples Federico II, Dept Elect Engn & Informat Technol, Naples, Italy..
    Adaldo, Antonio
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Lo Iudice, Francesco
    Univ Naples Federico II, Dept Elect Engn & Informat Technol, Naples, Italy..
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Johansson, Karl H.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    di Bernardo, Mario
    Univ Naples Federico II, Dept Elect Engn & Informat Technol, Naples, Italy..
    Cloud-supported self-triggered control for multi-agent circumnavigation2018In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 5090-5095Conference paper (Refereed)
    Abstract [en]

    In this paper, we propose a cloud-supported control framework for multi-agent circumnavigation missions. We consider a network of planar autonomous agents. Our objective is for the agents to circumnavigate a target with a desired angular speed, while forming a regular polygon around the target. We propose self-triggered rules to schedule the bearing measurements and the cloud accesses for each agent.

  • 14.
    Wei, Jieqiang
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Zhang, Silun
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Adaldo, Antonio
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Finite-time attitude synchronization with a discontinuous protocol2017In: 13th IEEE International Conference on Control and Automation, ICCA 2017, IEEE Computer Society, 2017, p. 192-197, article id 8003058Conference paper (Refereed)
    Abstract [en]

    A finite-time attitude synchronization problem is considered in this paper where the rotation of each rigid body is expressed using the axis-angle representation. One simple discontinuous and distributed controller using the vectorized signum function is proposed. This controller only involves the sign of the state differences of adjacent neighbors. In order to avoid the singularity introduced by the axis-angular representation, an extra constraint is added to the initial condition. It is proved that for some initial conditions, the control law achieves finite-time attitude synchronization. One simulated example is provided to verify the usage of the control protocol designed in this paper.

  • 15.
    Wei, Jieqiang
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Zhang, Silun
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Adaldo, Antonio
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Johan, Thunberg
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Johansson, Karl H.
    KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
    Finite-time attitude synchronization with distributed discontinuous protocols2018In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, no 10, p. 3608-3615Article in journal (Refereed)
    Abstract [en]

    The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

1 - 15 of 15
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf