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A formation control framework of multi-agent systems for urban earthquake disasters is proposed. Specifically, we aim for the search for severed roads on the area damaged by the earthquakes. Given the graph that consists of edges and nodes that correspond to roads and intersections, respectively, we cast the problem as a variation of Chinese postman problem (CPP). The purpose of the mission is that...
A linear system with a generalized frequency variable denoted by G(s) is a system which is given by replacing transfer function's 's' variable in the original system G0(s) with a rational function 'Phi(s)', i.e., G(s) is defined by Go(Phi(s)). A class of large-scale systems with decentralized information structures such as multi-agent systems can be represented by this form. In this paper, we investigate...
Stability conditions of networked multiple mobile agents in the face of state-dependent stochastic communications failure are derived. Using a graph-theoretic approach, we provide stability analysis for the case where each agent at certain time instance experience an unavailability of the state information of some other agents, while a zero-order hold sampled-data controller is being employed to achieve...
A problem of controlling multi-agent systems with intermittent information exchange between the agents is considered. Through energy-based analysis, we first derive stability conditions given a communication network structure and a sampling period. Furthermore, we relate the network topology and control performance in terms of the system's aggregate energy dissipation rate
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