8 papers
Heterogeneous Multi-Agent Multi-Target Tracking using Cellular Sheaves
Tyler Hanks, Cristian F. Nino, Joana Bou Barcelo +3
Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph…
Collaborative Indirect Influencing and Control on Graphs using Graph Neural Networks
Max L. Gardenswartz, Brandon C. Fallin, Cristian F. Nino +1
This paper presents a novel approach to solving the indirect influence problem in networked systems, in which cooperative nodes must regulate a target node with uncertain dynamics…
Lyapunov-Based Graph Neural Networks for Adaptive Control of Multi-Agent Systems
Brandon C. Fallin, Cristian F. Nino, Omkar Sudhir Patil +2
Graph neural networks (GNNs) have a message-passing framework in which vector messages are exchanged between graph nodes and updated using feedforward layers. The inclusion of dist…
Bounds on Deep Neural Network Partial Derivatives with Respect to Parameters
Omkar Sudhir Patil, Brandon C. Fallin, Cristian F. Nino +2
Deep neural networks (DNNs) have emerged as a powerful tool with a growing body of literature exploring Lyapunov-based approaches for real-time system identification and control. T…
Distributed RISE-based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems
Cristian F. Nino, Omkar Sudhir Patil, Sage C. Edwards +1
A distributed implementation of a Robust Integral of the Sign of the Error (RISE) controller is developed for multi-agent target tracking problems with exponential convergence guar…
Online ResNet-Based Adaptive Control for Nonlinear Target Tracking
Cristian F. Nino, Omkar Sudhir Patil, Jordan C. Insinger +2
A generalized ResNet architecture for adaptive control of nonlinear systems with black box uncertainties is developed. The approach overcomes limitations in existing methods by inc…