Related papers: Fault-tolerant Cooperative Tasking for Multi-agent…

Resilience refers to the ability of systems to withstand, adapt to, and recover from disruptive events. While studies on resilience have attracted significant attention across various research domains, the precise definition of this concept…

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…

Joint activity describes when more than one agent (human or machine) contributes to the completion of a task or activity. Designing for joint activity focuses on explicitly supporting the interdependencies between agents necessary for…

Cooperative information shared among a multi-agent system (MAS) can be useful to agents to efficiently fulfill their missions. Relying on wrong information, however, can have severe consequences. While classical approaches only consider…

This paper investigates the effect of constant time delay in weakly connected multi-agent systems modeled by double integrator dynamics. A novel analytical approach is proposed to establish an upper bound on the permissible time delay that…

Given an increasing prevalence of intelligent systems capable of autonomous actions or augmenting human activities, it is important to consider scenarios in which the human, autonomous system, or both can exhibit failures as a result of one…

Computational models of collaboration without prior coordination often overlook how heterogeneous agent traits and complex task structures jointly produce systemic bottlenecks, inefficiencies, and contribution inequalities. We address this…

This paper addresses the problem of adding redundancy to a collection of physical objects so that the overall system is more robust to failures. In contrast to its information counterpart, which can exploit parity to protect multiple…

The ability to detect faults is an important safety feature for event-based multi-agent systems. In most existing algorithms, each agent tries to detect faults by checking its own behavior. But what if one agent becomes unable to recognize…

Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…

This paper presents a comparative analysis of cooperative resilience in multi-agent systems, defined as the ability to anticipate, resist, recover from, and transform to disruptive events that affect collective well-being. We focus on…

This work studies the problem of ad hoc teamwork in teams composed of agents with differing computational capabilities. We consider cooperative multi-player games in which each agent's policy is constrained by a private capability…

To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…

Complex scheduling problems require a large amount computation power and innovative solution methods. The objective of this paper is the conception and implementation of a multi-agent system that is applicable in various problem domains.…

We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…

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…

We propose a formal design framework for synthesizing coordination and control policies for cooperative multi-agent systems to accomplish a global mission. The global performance requirements are specified as regular languages while…

Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…

This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…

Agent faults pose a significant threat to the performance of multi-agent reinforcement learning (MARL) algorithms, introducing two key challenges. First, agents often struggle to extract critical information from the chaotic state space…