8 papers · 1 filter
Automatic traction control for articulated off-road vehicles
Johan Markdahl
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential…
Counterexamples in synchronization: pathologies of consensus seeking gradient descent flows on surfaces
Johan Markdahl
Certain consensus seeking multi-agent systems can be formulated as gradient descent flows of a disagreement function. We study how known pathologies of gradient descent flows in Eu…
Robust synchronization of heterogeneous robot swarms on the sphere
Johan Markdahl, Daniele Proverbio, Jorge Goncalves
Synchronization on the sphere is important to certain control applications in swarm robotics. Of recent interest is the Lohe model, which generalizes the Kuramoto model from the ci…
Consensus seeking gradient descent flows on boundaries of convex sets
Johan Markdahl
Consensus on nonlinear spaces is of use in many control applications. This paper proposes a gradient descent flow algorithm for consensus on hypersurfaces. We show that if an inequ…
A Geometric Obstruction to Almost Global Synchronization on Riemannian Manifolds
Johan Markdahl
Multi-agent systems on nonlinear spaces sometimes fail to synchronize. This is usually attributed to the initial configuration of the agents being too spread out, the graph topolog…
A Lifting method for analyzing distributed synchronization on the unit sphere
Johan Thunberg, Johan Markdahl, Florian Bernard +1
This paper introduces a new lifting method for analyzing convergence of continuous-time distributed synchronization/consensus systems on the unit sphere. Points on the d-dimensiona…