Localization in sparse networks using sweeps
Proceedings of the 12th annual international conference on Mobile computing and networking
Brief paper: Notes on averaging over acyclic digraphs and discrete coverage control
Automatica (Journal of IFAC)
Brief paper: Distributed nonlinear control algorithms for network consensus
Automatica (Journal of IFAC)
ACC'09 Proceedings of the 2009 conference on American Control Conference
Modeling multi-agent systems with hybrid interacting dynamics
ACC'09 Proceedings of the 2009 conference on American Control Conference
ACC'09 Proceedings of the 2009 conference on American Control Conference
Brief paper: The Zermelo-Voronoi diagram: A dynamic partition problem
Automatica (Journal of IFAC)
Brief paper: Decentralized coordination of autonomous swarms using parallel Gibbs sampling
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Finite-time convergent gradient flows with applications to network consensus
Automatica (Journal of IFAC)
SIAM Journal on Control and Optimization
Finite-time distributed consensus via binary control protocols
Automatica (Journal of IFAC)
Relay pursuit of a maneuvering target using dynamic Voronoi diagrams
Automatica (Journal of IFAC)
Automation and Remote Control
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This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of distributed control laws that are related to nonsmooth gradient systems. The resulting dynamical systems promise to be of use in coordination problems for networked robots; in this setting the distributed control laws correspond to local interactions between the robots. The technical approach relies on concepts from computational geometry, nonsmooth analysis, and the dynamical system approach to algorithms.