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State estimation and decentralized control strategies for multi-agent systems have been devised in presence of uncertain and intermittent proximity measurements. This line of research focuses on the problem of coordinating multiagent systems when it is not economically convenient or feasible to use costly and sophisticated sensors, and only proximity sensors are employed. Using tools from Interval Analysis, a decentralized algorithm for state estimation was shown to converge and then employed for achieving formation control of the multi-agent system.
Selected publications:
F. Lo Iudice, J. A. Acosta, F. Garofalo, P. DeLellis, “Estimation and control of oscillators through short-range proximity measurements”, Automatica, 113, 108752, 2020.
V. Mwaffo, J. S. Curry, F. Lo Iudice, P. De Lellis, “Pause-and-go self-balancing formation control of autonomous vehicles using vision and ultrasound sensors”, IEEE Transactions on Control Systems Technology, 2020, doi.org//10.1109/TCST.2020.3036892
V. Mwaffo, P. De Lellis, S. Humbert, “Formation control of stochastic multi-vehicle systems”, IEEE Transactions on Control Systems Technology, 2021, doi.org//10.1109/TCST.2020.3047422
P. DeLellis, F. Garofalo, F. Lo Iudice, G. Mancini, "State estimation of heterogeneous oscillators by means of proximity measurements", Automatica, 51(1), 378-384, 2015.
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