Visible to the public Biblio

Filters: Author is G. J. Pappas  [Clear All Filters]
C. Nowzari, J. Cortes, G. J. Pappas.  2015.  Team-triggered coordination of robotic networks for optimal deployment. acc. :5744-5751.

This paper introduces a novel team-triggered algorithmic solution for a distributed optimal deployment problem involving a group of mobile sensors. Distributed self-triggered algorithms relieve the requirement of synchronous periodic communication among agents by providing opportunistic criteria for when communication should occur. However, these criteria are often conservative since worst-case scenarios must always be considered to ensure the monotonic evolution of a relevant objective function. Here we introduce a team-triggered algorithm that builds on the idea of `promises' among agents, allowing them to operate with better information about their neighbors when they are not communicating, over a dynamically changing graph. We analyze the correctness of the proposed strategy and establish the same convergence guarantees as a coordination algorithm that assumes perfect information at all times. The technical approach relies on tools from set-valued stability analysis, computational geometry, and event-based systems. Simulations illustrate our results.

F. Miao, S. Han, S. Lin, G. J. Pappas.  2015.  Robust taxi dispatch under model uncertainties. 2015 54th IEEE Conference on Decision and Control (CDC). :2816-2821.
F. Miao, S. Han, S. Lin, J. Stankovic, Q. Wang, D. Zhang, T. He, G. J. Pappas.  2016.  Data-Driven Robust Taxi Dispatch Approaches. 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS). :1-1.