This paper investigates decentralized sliding mode control (SMC) of multi-agent cooperative systems when the inter-agent communication delay cannot be neglected. A new algorithm is proposed to control and maintain the cooperation objectives when large communication delays occur due to faulty network conditions. The faulty agents perform prediction of all other agents in order to perform decentr...

Many pervasive protocols which continue to be used in distributed/decentralized communication networking today fundamentally rely on “cooperative behavior” of the participating end-hosts/users. In particular, TCP in layer 4 and MAC in layer 2 of the OSI protocol hierarchy prescribe distributed transmission back-off rules in response to detected congestion and, in the case of some MAC protocols,...

Using decentralized control structures for robot control can offer a lot of advantages, such as less complexity, better fault tolerance and more flexibility. In this paper the evolution of recurrent artificial neural networks as centralized and decentralized control architectures will be demonstrated. Both designs will be analyzed concerning their structure-function relations and robustness aga...

This paper explores the possibility of enhancing the decision-making capability of a decentralized sensor network by establishing cooperative behavior among sensor agents. For that purpose, it was necessary to devise a robust consensus mechanism that distributes sensing information through local fusing with neighbors rather than through a centralized control. This paper proposed a novel particl...

We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1...

Cooperative relaying and dynamic-spectrum-access/cognitive techniques are promising solutions to increase the capacity and reliability of wireless links by exploiting the spatial and frequency diversity of the wireless channel. Yet, the combined use of cooperative relaying and dynamic spectrum access in multi-hop networks with decentralized control is far from being well understood. We study th...

We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking control optimizing the behavior of the agents. It is suited to nonlinear and non-Gaussian problems and, in particular, to location-aware networks. For cooperative...

Optimizing the operation of cooperative multi-robot systems that can cooperatively act in large and complex environments has become an important focal area of research. This issue is motivated by many applications involving a set of cooperative robots that have to decide in a decentralized way how to execute a large set of tasks in partially observable and uncertain environments. Such decision ...

Development of vehicle active steering collision avoidance systems calls for mathematical models capable of predicting a human driver’s response so as to reduce the cost involved in field tests whilst accelerate product development. This article provides a discussion on the paradigms that may be used for modelling a driver’s steering interaction with vehicle collision avoidance control in path-...