Related papers: Cooperative Tasking for Deterministic Specificatio…
In this paper we present a new approach to decentralized supervisory control of large automata with communicating supervisors. We first generalize the recently developed top-down architecture of multilevel coordination control with a…
Large-scale itinerary planning is a variant of the traveling salesman problem, aiming to determine an optimal path that maximizes the collected points of interest (POIs) scores while minimizing travel time and cost, subject to travel…
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
Cooperative task assignment is an important subject in multi-agent systems with a wide range of applications. These systems are usually designed with massive communication among the agents to minimize the error in pursuit of the general…
In multiagent systems, agents often have to rely on other agents to reach their goals, for example when they lack a needed resource or do not have the capability to perform a required action. Agents therefore need to cooperate. Then, some…
Distributed computing often gives rise to complex concurrent and interacting activities. In some cases several concurrent activities may be working together, i.e. cooperating, to solve a given problem; in other cases, the activities may be…
In human-robot teams where agents collaborate together, there needs to be a clear allocation of tasks to agents. Task allocation can aid in achieving the presumed benefits of human-robot teams, such as improved team performance. Many task…
We study the problem of learning multi-task, multi-agent policies for cooperative, temporal objectives, under centralized training, decentralized execution. In this setting, using automata to represent tasks enables the decomposition of…
In scenarios like automated warehouses, assigning tasks to robots presents a heterogeneous multi-task and multi-agent task allocation problem. However, existing task allocation study ignores the integration of multi-task and multi-attribute…
Tackling complex team problems requires understanding each team member's skills in order to devise a task assignment maximizing the team performance. This paper proposes a novel quantitative model describing the decentralized process by…
Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
Reasoning and planning for mobile robots is a challenging problem, as the world evolves over time and thus the robot's goals may change. One technique to tackle this problem is goal reasoning, where the agent not only reasons about its…
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decision variables are only directly coupled to few other agent's…
This paper proposes a novel game-theoretical autonomous decision-making framework to address a task allocation problem for a swarm of multiple agents. We consider cooperation of self-interested agents, and show that our proposed…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only…