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114
Distributed Kriged Kalman filter for spatial estimation
 ACCEPTED AS REGULAR PAPER IN THE IEEE TRANSACTIONS ON AUTOMATIC CONTROL
, 2009
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Distributed control of robotic networks: a mathematical approach to motion coordination algorithms
, 2009
"... (i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 ..."
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Cited by 41 (1 self)
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(i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 “Distributed Control of Robotic Networks ” by F. Bullo, J. Cortés and S. Martínez
An overview of recent progress in the study of distributed multiagent coordination
, 2012
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Synchronization and Power Sharing for DroopControlled Inverters in Islanded Microgrids
, 2013
"... Motivated by the recent and growing interest in smart grid technology, we study the operation of DC/AC inverters in an inductive microgrid. We show that a network of loads and DC/AC inverters equipped with powerfrequency droop controllers can be cast as a Kuramoto model of phasecoupled oscillators ..."
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Cited by 30 (9 self)
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Motivated by the recent and growing interest in smart grid technology, we study the operation of DC/AC inverters in an inductive microgrid. We show that a network of loads and DC/AC inverters equipped with powerfrequency droop controllers can be cast as a Kuramoto model of phasecoupled oscillators. This novel description, together with results from the theory of coupled oscillators, allows us to characterize the behavior of the network of inverters and loads. Specifically, we provide a necessary and sufficient condition for the existence of a synchronized solution that is unique and locally exponentially stable. We present a selection of controller gains leading to a desirable sharing of power among the inverters, and specify the set of loads which can be serviced without violating given actuation constraints. Moreover, we propose a distributed integral controller based on averaging algorithms, which dynamically regulates the system frequency in the presence of a timevarying load. Remarkably, this distributedaveraging integral controller has the additional property that it preserves the power sharing properties of the primary droop controller. Our results hold without assumptions on identical line characteristics or voltage magnitudes.
Distributed coordinated tracking with reduced interaction via a variable structure approach
 IEEE Trans. Autom. Control
, 2011
"... Abstract—A distributed coordinated tracking problem is solved via a variable structure approach when there exists a dynamic virtual leader who is a neighbor of only a subset of a group of followers, all followers have only local interaction, and only partial measurements of the states of the virtual ..."
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Cited by 20 (3 self)
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Abstract—A distributed coordinated tracking problem is solved via a variable structure approach when there exists a dynamic virtual leader who is a neighbor of only a subset of a group of followers, all followers have only local interaction, and only partial measurements of the states of the virtual leader and the followers are available. In the context of coordinated tracking, we focus on both consensus tracking and swarm tracking algorithms. In the case of firstorder kinematics, we propose a distributed consensus tracking algorithm without velocity measurements under both fixed and switching network topologies. In particular, we show that distributed consensus tracking can be achieved in finite time. The algorithm is then extended to achieve distributed swarm tracking without velocity measurements. In the case of secondorder dynamics, we first propose two distributed consensus tracking algorithms without acceleration measurements when the velocity of the virtual leader is varying under, respectively, a fixed and switching network topology. In particular, we show that the proposed algorithms guarantee at least global exponential tracking. We then propose a distributed consensus tracking algorithm and a distributed swarm tracking algorithm when the velocity of the virtual leader is constant. When the velocity of the virtual leader is varying, distributed swarm tracking is solved by using a distributed estimator. For distributed consensus tracking, a mild connectivity requirement is proposed by adopting an adaptive connectivity maintenance mechanism in which the adjacency matrix is defined in a proper way. Similarly, a mild connectivity requirement is proposed for distributed swarm tracking by adopting a connectivity maintenance mechanism in which the potential function is defined in a proper way. Several simulation examples are presented as a proof of concept. Index Terms—Consensus tracking, cooperative control, distributed control, multiagent systems, swarm tracking, variable structure approach. I.
Distributed Anonymous Discrete Function Computation
"... Abstract—We propose a model for deterministic distributed function computation by a network of identical and anonymous nodes. In this model, each node has bounded computation and storage capabilities that do not grow with the network size. Furthermore, each node only knows its neighbors, not the ent ..."
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Cited by 18 (3 self)
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Abstract—We propose a model for deterministic distributed function computation by a network of identical and anonymous nodes. In this model, each node has bounded computation and storage capabilities that do not grow with the network size. Furthermore, each node only knows its neighbors, not the entire graph. Our goal is to characterize the class of functions that can be computed within this model. In our main result, we provide a necessary condition for computability which we show to be nearly sufficient, in the sense that every function that violates this condition can at least be approximated. The problem of computing (suitably rounded) averages in a distributed manner plays a central role in our development; we provide an algorithm that solves it in time that grows quadratically with the size of the network. Index Terms—Averaging algorithms, distributed computing, distributed control. I.
Unifying geometric, probabilistic, and potential field approaches to multirobot coverage control
 In Proc. ISRR
, 2009
"... This paper unifies and extends several different existing strategies for deploying groups of robots in an environment. A cost function is proposed that can be specialized to represent widely different multirobot deployment tasks. It is shown that geometric and probabilistic deployment strategies th ..."
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Cited by 17 (4 self)
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This paper unifies and extends several different existing strategies for deploying groups of robots in an environment. A cost function is proposed that can be specialized to represent widely different multirobot deployment tasks. It is shown that geometric and probabilistic deployment strategies that were previously seen as distinct are in fact related through this cost function, and differ only in the value of a single parameter. These strategies are also related to potential field based controllers through the same cost function, though the relationship is not as simple. Distributed controllers are then obtained from the gradient of the cost function and are proved to converge to a local minimum of the cost function. Three special cases are derived as examples: a Voronoi based coverage control task, a probabilistic minimum variance task, and a task using artificial potential fields. The performance of the three different controllers are compared in simulation. A result is also proved linking multirobot deployment to nonconvex optimization problems, and multirobot consensus (i.e. all robots moving to the same point) to convex optimization problems, which implies that multirobot deployment is inherently more difficult than multirobot consensus. 1
Distributed continuoustime convex optimization on weightbalanced digraphs
, 2013
"... This paper studies the continuoustime distributed optimization of a sum of convex functions over directed graphs. Contrary to what is known in the consensus literature, where the same dynamics works for both undirected and directed scenarios, we show that the consensusbased dynamics that solves th ..."
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Cited by 17 (4 self)
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This paper studies the continuoustime distributed optimization of a sum of convex functions over directed graphs. Contrary to what is known in the consensus literature, where the same dynamics works for both undirected and directed scenarios, we show that the consensusbased dynamics that solves the continuoustime distributed optimization problem for undirected graphs fails to converge when transcribed to the directed setting. This study sets the basis for the design of an alternative distributed dynamics which we show is guaranteed to converge, on any strongly connected weightbalanced digraph, to the set of minimizers of a sum of convex differentiable functions with globally Lipschitz gradients. Our technical approach combines notions of invariance and cocoercivity with the positive definiteness properties of graph matrices to establish the results.