Related papers: Multi-agent Systems with Compasses
We propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
In artificial multi-agent systems, the ability to learn collaborative policies is predicated upon the agents' communication skills: they must be able to encode the information received from the environment and learn how to share it with…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
The question how social norms can emerge from microscopic interactions between individuals is a key problem in social sciences to explain collective behavior. In this paper we propose an agent-based model to show that randomly distributed…
We study a discrete-time consensus model in which agents iteratively update their states through interactions on a dynamic social network. At each step, a single agent is selected asynchronously and averages the values of its current…
Information exchange in multi-agent systems improves the cooperation among agents, especially in partially observable settings. In the real world, communication is often carried out over imperfect channels. This requires agents to handle…
Artificial agents capable of understanding and aligning with others' intentions are essential for safe and socially robust artificial intelligence. We introduce a computational framework for empathy in active inference agents, grounded in…
Consider a collaborative task carried out by two autonomous agents that are able to communicate over a noisy channel. Each agent is only aware of its own state, while the accomplishment of the task depends on the value of the joint state of…
We present a model of interpersonal comparisons appearing as a generalization of a multi-state model for elements with internal bias. Within this model agents suffering under dissatisfaction compare them with their neighbors. The internal…
In this article, we establish exponential contraction results for the diameter and variance of general first-order multiagent systems. Our approach is based on compactification techniques, and works under rather mild assumptions. Namely, we…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
Many modern software systems are built as a set of autonomous software components (also called agents) that collaborate with each other and are situated in an environment. To keep these multiagent systems operational under abnormal…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
In multi-agent systems, cooperative behavior is largely determined by the network structure which dictates the interactions among neighboring agents. These interactions often exhibit multidimensional features, either as relationships of…
Maintaining temporal stability is crucial in multi-agent trajectory prediction. Insufficient regularization to uphold this stability often results in fluctuations in kinematic states, leading to inconsistent predictions and the…
This paper addresses the consensus problem of first-order continuous-time multi-agent systems over undirected graphs. Each agent samples relative state measurements in a self-triggered fashion and transmits the sum of the measurements to…
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to…
This paper considers the multi-dimensional consensus in networked systems, where some of the agents might be misbehaving (or faulty). Despite the influence of these misbehaviors, the benign agents aim to reach an agreement while avoiding…