Related papers: Cooperative Tasking for Deterministic Specificatio…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents…
In this paper, we propose a novel distributed algorithm to optimize the emergent macroscopic behavior of large-scale multi-agent systems via microscopic actions. We cast this task as a bilevel optimization problem, where the upper level…
The problem of assigning agents to tasks is a central computational challenge in many multi-agent autonomous systems. However, in the real world, agents are not always perfect and may fail due to a number of reasons. A motivating…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
The purpose of this report is to define abstractions for multi-agent systems under coupled constraints. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account…
We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
In many two-sided markets, the parties to be matched have incomplete information about their characteristics. We consider the settings where the parties engaged are extremely patient and are interested in long-term partnerships. Hence, once…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
We consider a cooperative multi-agent system consisting of a team of agents with decentralized information. Our focus is on the design of symmetric (i.e. identical) strategies for the agents in order to optimize a finite horizon team…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
Quantitative requirements play an important role in the context of multi-agent systems, where there is often a trade-off between the tasks of individual agents and the constraints that the agents must jointly adhere to. We study multi-agent…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…