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

arXiv: https://arxiv.org/abs/2104.07989 · HTML: https://mlsanity.com/paper/2104.07989/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Apr 2021.

## Built on by (most cited first, 2 of 2)

- [Parameter-Adaptive Approximate MPC: Tuning Neural-Network Controllers without Retraining](https://mlsanity.com/paper/2404.05835/) (2024)
- [Priority-Driven Control and Communication in Decentralized Multi-Agent Systems via Reinforcement Learning](https://mlsanity.com/paper/2605.10482/) (2026)

## Abstract (arXiv)

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