Related papers: Navigation Function Based Decentralized Control of…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Making Smart Cities more sustainable, resilient and democratic is emerging as an endeavor of satisfying hard constraints, for instance meeting net-zero targets. Decentralized multi-agent methods for socio-technical optimization of…
We propose a fully decentralized multi-agent world model that enables both symbol emergence for communication and coordinated behavior through temporal extension of collective predictive coding. Unlike previous research that focuses on…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
In recent years, Deep Reinforcement Learning emerged as a promising approach for autonomous navigation of ground vehicles and has been utilized in various areas of navigation such as cruise control, lane changing, or obstacle avoidance.…
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…
In this paper the problem of driving the state of a network of identical agents, modeled by boundary-controlled heat equations, towards a common steady-state profile is addressed. Decentralized consensus protocols are proposed to address…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
Deep reinforcement learning algorithms have recently been used to train multiple interacting agents in a centralised manner whilst keeping their execution decentralised. When the agents can only acquire partial observations and are faced…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
Current approaches to multi-agent cooperation rely heavily on centralized mechanisms or explicit communication protocols to ensure convergence. This paper studies the problem of distributed multi-agent learning without resorting to…
The design of distributed autonomous systems often omits consideration of the underlying network dynamics. Recent works in multi-agent systems and swarm robotics alike have highlighted the impact that the interactions between agents have on…
The real world is awash with multi-agent problems that require collective action by self-interested agents, from the routing of packets across a computer network to the management of irrigation systems. Such systems have local incentives…
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…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
Distributed controllers are often necessary for a multi-agent system to satisfy safety properties such as collision avoidance. Communication and coordination are key requirements in the implementation of a distributed control protocol, but…