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Distributed Adaptive Control
Leader-follower consensus and formation for heterogeneous agents with uncertain dynamics, including learning-based disturbance estimation and collision/obstacle avoidance.
RESEARCH
Control, coordination & provable safety.
The research foundation of Zoyem Labs grows from Dr. Armel Koulong’s doctoral work on adaptive and predictive distributed safety in heterogeneous multi-agent systems.
01 / RESEARCH THEMES
A connected research stack.
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Robust Safety
Tube-based robustness combined with exponential control barrier functions to protect inter-agent and obstacle constraints under bounded disturbances.
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Distributed MPC
Predictive coordination that anticipates constraints and couples local planning with robust safety certificates.
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Switching Networks
Coordination and safety when communication graphs change over time because of scheduling, range, or link formation/loss.
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Scalable Constraint Reduction
Certified reduction of safety constraints to lower computational burden while preserving the underlying robust safety guarantee.
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Learning-Enabled Autonomy
Neural estimators and data-informed components used within structured control architectures rather than as substitutes for safety reasoning.
02 / DISSERTATION
Adaptive and Predictive Distributed Safety in Heterogeneous Multi-Agent Systems
Dr. Koulong’s 2026 University of Alabama dissertation develops distributed frameworks for cooperative autonomous systems that must coordinate while maintaining hard separation and obstacle constraints under uncertainty, disturbances, and changing communication topology.
University repository ↗