Architectural Issues in Distributed Control Systems:

    Develop tools for analysis and synthesis of decentralized controllers for spatially distributed dynamical systems with information constraints. Classify general classes of systems and their information constraints that are amenable to tractable algorithms.

Bounded-Curvature Path Planning for Multi-Robotic Systems

    Develope scalable and near-optimal algorithms for applications in multi-robotic systems such as path planning, area coverage, rendezvous, etc.

Sparse Network Topology Identification:

    Characterize the class of identifiable sparse network topologies using a limited number of observational data obtainable from experiments on the network.

Optimal Control Spatially Distributed Systems:

    Introduced of the notion of Banach Algebra of Spatially Decaying (SD) operators. Studied the structural properties of spatially distributed dynamical systems and showed that the corresponding optimal controllers are SD.

Locality Features of Distributed Optimization:

    Studied the locality features of large-scale optimization problems such as linear and quadratic programming. Showed that receding horizon control of spatially distributed dynamical systems are spatially localized.

Synchronization of Nonlinear Oscillators :

    Proposed a new stability analysis for the Kuramoto model of coupled nonlinear oscillators for arbitrary topology.