Collision avoidance is a safety mechanism essentially to be embedded in the control structure of a team of autonomous vehicles. This is particularly important when the team is involved in cooperative tasks in which the team members should move with a relatively close distance. This paper develops a decentralized control structure for the collision avoidance of autonomous unmanned helicopters. H...

decentralized control strategies are popular candidates in microgrids control because of their reliability and performance. conventionally, droop control (as a main decentralized strategy) is been utilized in order to prevent permanent droop of voltage and frequency after change in loads and also to share generated power between distributed generation units. in this paper, a new droop control s...

In the last years, a challenging field of autonomous robotics is represented by cooperative mobile manipulation carried out in different environments (aerial, terrestrial and underwater environment). As regards cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs), this application is characterized by a more complex environment of work, compared to the terrestrial or ...

The emergence of the graphon theory large networks and their infinite limits has enabled formulation a centralized control dynamical systems distributed on asymptotically (Gao Caines, IEEE CDC 2017, 2018). Furthermore, study decentralized such was initiated in (Caines Huang, 2018, 2019), where Graphon Mean Field Games (GMFG) GMFG equations were formulated for analysis non-cooperative dynamic ga...

This paper addresses the problems of stability analysis and decentralized control of interconnected linear systems with constant time-delays in the state of each subsystems as well as in the interconnections. We develop delay-dependent methods of stability analysis and decentralized stabilization via linear memoryless state-feedback. The proposed methods are given in terms of linear matrix ineq...

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them...

Efficient exploration is a critical issue in swarm UAVs with substantial research interest due to its applications search and rescue missions. In this study, we propose cooperative approach that uses multiple unmanned aerial vehicles (UAVs). Our allows explore separate areas dynamically, resulting increased efficiency decreased redundancy. We use novel dynamic centroid-based method partition th...

Systems with multi inputs and multi outputs are in common controlled by centralized controllers, multivariable controllers or by a set of single input and single output controllers. The decentralized systems dominated in industry due to the following advantages: flexibility in operation, failure tolerance, simplified design and tuning (Garelli et al., 2006). Decentralized control techniques can...