480 citations · 927 across the 30 of their papers we have counts for
32 papers
Cluster Assignment in Multi-Agent Systems : Sparsity Bounds and Fault Tolerance
Miel Sharf, Daniel Zelazo
We study cluster assignment in homogeneous diffusive multi-agent networks. Given the number of clusters and agents within each cluster, we design the network graph ensuring the sys…
On the Internal Stability of Diffusively Coupled Multi-Agent Systems and the Dangers of Cancel Culture
Gal Barkai, Leonid Mirkin, Daniel Zelazo
We study internal stability in the context of diffusively-coupled control architectures, common in multi-agent systems (i.e. the celebrated consensus protocol), for linear time-inv…
Cluster Assignment in Multi-Agent Systems
Miel Sharf, Daniel Zelazo
We study cluster assignment in multi-agent networks. We consider homogeneous diffusive networks, and focus on design of the graph that ensures the system will converge to a prescri…
On Structural Rank and Resilience of Sparsity Patterns
Mohamed Ali Belabbas, Xudong Chen, Daniel Zelazo
A sparsity pattern in , for , is a vector subspace of matrices admitting a basis consisting of canonical basis vectors in $\mathbb{R}^{n \times m}…
Secure Consensus via Objective Coding: Robustness Analysis to Channel Tampering
Marco Fabris, Daniel Zelazo
This work mainly addresses continuous-time multiagent consensus networks where an adverse attacker affects the convergence performances of said protocol. In particular, we develop…
Economic Dispatch of a Single Micro-Gas Turbine Under CHP Operation with Uncertain Demands
Miel Sharf, Iliya Romm, Michael Palman +2
This work considers the economic dispatch problem for a single micro-gas turbine, governed by a discrete state-space model, under combined heat and power (CHP) operation and couple…
Optimization with Zeroth-Order Oracles in Formation
Elad Michael, Daniel Zelazo, Tony A. Wood +2
In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. The proposed a novel method to estimate the gradient at e…
A Characterization of All Passivizing Input-Output Transformations of a Passive-Short System
Miel Sharf, Daniel Zelazo
Passivity theory is one of the cornerstones of control theory, as it allows one to prove stability of a large-scale system while treating each component separately. In practice, ma…
Monitoring Link Faults in Nonlinear Diffusively-coupled Networks
Miel Sharf, Daniel Zelazo
Fault detection and isolation is an area of engineering dealing with designing on-line protocols for systems that allow one to identify the existence of faults, pinpoint their exac…
Model-Free Practical Cooperative Control for Diffusively Coupled Systems
Miel Sharf, Anne Koch, Daniel Zelazo +1
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an -neighborhood of the desired formation. The…
Network Identification for Diffusively-Coupled Systems with Minimal Time Complexity
Miel Sharf, Daniel Zelazo
The theory of network identification, namely identifying the (weighted) interaction topology among a known number of agents, has been widely developed for linear agents. However, t…
Network Feedback Passivation of Passivity-Short Multi-Agent Systems
Miel Sharf, Daniel Zelazo
In this paper, we propose a network-optimization framework for the analysis of multi-agent systems with passive-short agents. We consider the known connection between diffusively-c…
Symmetry-Induced Clustering in Multi-Agent Systems using Network Optimization and Passivity
Miel Sharf, Daniel Zelazo
This work studies the effects of a weak notion of symmetry on diffusively-coupled multi-agent systems. We focus on networks comprised of agents and controllers which are maximally…
A Unified Dissertation on Bearing Rigidity Theory
Giulia Michieletto, Angelo Cenedese, Daniel Zelazo
This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-u…
A Geometric Method for Passivation and Cooperative Control of Equilibrium-Independent Passivity-Short Systems
Miel Sharf, Anoop Jain, Daniel Zelazo
Equilibrium-independent passive-short (EIPS) systems are a class of systems that satisfy a passivity-like dissipation inequality with respect to any forced equilibria with non-posi…
Convergence Analysis of Signed Nonlinear Networks
Hao Chen, Daniel Zelazo, Xiangke Wang +1
This work analyzes the convergence properties of signed networks with nonlinear edge functions. We consider diffusively coupled networks comprised of maximal equilibrium-independen…
Network Identification: A Passivity and Network Optimization Approach
Miel Sharf, Daniel Zelazo
The theory of network identification, namely identifying the interaction topology among a known number of agents, has been widely developed for linear agents over recent years. How…
Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life Beyond Distance Rigidity
Shiyu Zhao, Daniel Zelazo
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing.…
Pointing consensus for rooted out-branching graphs
Minh Hoang Trinh, Daniel Zelazo, Quoc Van Tran +1
Given a network of multiple agents, the pointing consensus problem asks all agents to point toward a common target. This paper proposes a simple method to solve the pointing consen…
Laman Graphs are Generically Bearing Rigid in Arbitrary Dimensions
Shiyu Zhao, Zhiyong Sun, Daniel Zelazo +2
This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is…
Consensus over Weighted Directed Graphs: A Robustness Perspective
Dwaipayan Mukherjee, Daniel Zelazo
The present paper investigates the robustness of the consensus protocol over weighted directed graphs using the Nyquist criterion. The limit to which a single weight can vary, whil…
Fekete points, formation control, and the balancing problem
Jan Maximilian Montenbruck, Daniel Zelazo, Frank Allgöwer
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the sh…
Bearing-Based Formation Stabilization with Directed Interaction Topologies
Shiyu Zhao, Daniel Zelazo
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied…
Translational and Scaling Formation Maneuver Control via a Bearing-Based Approach
Shiyu Zhao, Daniel Zelazo
This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while main…