Introduces Full-Covariance-Consensus, Partial-Covariance-Consensus, and Mean-Consensus distributed covariance steering methods via non-convex ADMM, with convergence guarantees for the latter two and demonstrations of scalability to thousands of agents.
Coordinated control of multi-robot sys- tems: A survey
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A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.
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Disentangled Control of Multi-Agent Systems
A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.