Related papers: Frequency-Based Patrolling with Heterogeneous Agen…
The multi-agent patrol problem refers to repeatedly visiting different locations in an environment using multiple autonomous agents. For over two decades, researchers have studied this problem in various settings. While providing valuable…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
In its simplest form the well known consensus problem for a networked family of autonomous agents is to devise a set of protocols or update rules, one for each agent, which can enable all of the agents to adjust or tune their "agreement…
This work addresses the synchronization/consensus problem of identical multi-agent system (MAS) where the agents' dynamics are linear and the communication network is arbitrarily switching among connected topologies. The approach uses a…
We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…
We study episodic reinforcement learning in Markov decision processes when the agent receives additional feedback per step in the form of several transition observations. Such additional observations are available in a range of tasks…
Parameter sharing, where each agent independently learns a policy with fully shared parameters between all policies, is a popular baseline method for multi-agent deep reinforcement learning. Unfortunately, since all agents share the same…
In most existing studies on large-scale multi-agent coordination, the control methods aim to learn discrete policies for agents with finite choices. They rarely consider selecting actions directly from continuous action spaces to provide…
Dynamical systems across many disciplines are modeled as interacting particles or agents, with interaction rules that depend on a very small number of variables (e.g. pairwise distances, pairwise differences of phases, etc...), functions of…
This paper proposes a reinforcement learning (RL)-based backstepping control strategy to achieve fixed time consensus in nonlinear multi-agent systems with strict feedback dynamics. Agents exchange only output information with their…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Open ad hoc teamwork is the problem of training a single agent to efficiently collaborate with an unknown group of teammates whose composition may change over time. A variable team composition creates challenges for the agent, such as the…
This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics. Two distributed adaptive dynamic consensus protocols are proposed, based on the relative output information of…
Humanoid agents are expected to emulate the complex coordination inherent in human social behaviors. However, existing methods are largely confined to single-agent scenarios, overlooking the physically plausible interplay essential for…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…