High throughput, low latency, and high reliability in proximity communications for swarm robotics can be achieved using decentralized cooperative resource allocation schemes. These schemes minimize the occurrence of half-duplex problems, reduce interference, allow a significant increase achievable density, but requires additional signaling overhead, which makes them potentially more prone to pe...

We address decentralized stochastic control problems represented as decentralized partially observable Markov decision processes (Dec-POMDPs). This formalism provides a general model for decision-making under uncertainty in cooperative, decentralized settings, but the worst-case complexity makes it difficult to solve optimally (NEXP-complete). Recent advances suggest recasting Dec-POMDPs into c...

Model predictive control (MPC) is a design technique that solves (typically on-line) optimization problems to determine a suitable feedback action. It is widely used because of the capability to deal with constraints and MIMO systems [3]. To treat practical industrial processes with MPC, use of so called economic cost functionals are proposed and considered for optimization in [1]. In this sche...

In this chapter we deal with the problem of robust position control for cooperative manipulators rigidly connected to an undeformable load. Design paradigms to solve force/position control problems have been established in the literature to improve the performance of the cooperation. In [8] a control strategy for cooperative manipulators was proposed based on the independence of the position an...