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An important class of cyber-physical systems relies on multiple agents thatjointly perform a task by coordinating their actions over a wireless network.Examples include self-driving cars in intelligent transportation and productionrobots in smart manufacturing. However, the scalability of existingcontrol-over-wireless solutions is limited as they cannot resolve overloadsituations in which the communication demand exceeds the available bandwidth.This paper presents a novel co-design of distributed control and wirelesscommunication that overcomes this limitation by dynamically allocating theavailable bandwidth to agents with the greatest need to communicate.Experiments on a real cyber-physical testbed with 20 agents, each consisting ofa low-power wireless embedded device and a cart-pole system, demonstrate thatour solution achieves significantly better control performance under overloadthan the state of the art. We further prove that our co-design guaranteesclosed-loop stability for physical systems with stochastic lineartime-invariant dynamics.

Scaling Beyond Bandwidth Limitations: Wireless Control With Stability Guarantees Under Overload