Related papers: A travelling wave approach to a multi-agent system…
This paper presents a spatio-temporal inverse optimal control framework for understanding interactions in multi-agent systems (MAS). We employ a graph representation approach and model the dynamics of interactions between agents as…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. By defining the graph filter from the consensus protocol, we establish the direct relation between average consensus of multi-agent systems…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…
Multi-agent networks are often modeled as interaction graphs, where the nodes represent the agents and the edges denote some direct interactions. The robustness of a multi-agent network to perturbations such as failures, noise, or malicious…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…
It has been reported that traveling waves propagate periodically and stably in sub-excitable systems driven by noise [Phys. Rev. Lett. \textbf{88}, 138301 (2002)]. As a further investigation, here we observe different types of traveling…
Modular vehicles present a novel area of academic and industrial interest in the field of multi-agent systems. Modularity allows vehicles to connect and disconnect with each other mid-transit which provides a balance between efficiency and…
A design framework recently has been developed to stabilize interconnected multiagent systems in a distributed manner, and systematically capture the architectural aspect of cyber-physical systems. Such a control theoretic framework,…
Testing conversational AI systems at scale across diverse domains necessitates realistic and diverse user interactions capturing a wide array of behavioral patterns. We present a novel multi-agent framework for realistic, explainable human…
In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent…
This chapter provides a comprehensive overview of controlling collective behavior in complex systems comprising large ensembles of interacting dynamical agents. Building upon traditional control theory's foundation in individual systems, we…
This paper focuses on the multi-agent synchronization problem with an open-loop unstable leader and followers under the switching topologies. For this issue, the typical approach is intermittent communication (including a spanning tree…
Feedback control is an effective strategy for stabilizing a desired state and has been widely adopted in maintaining the stability of systems such as flying birds and power grids. By default, this framework requires continuous control input…
In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may…
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…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
This paper describes a system developed to help people explore local communities by providing navigation services in social spaces created by the community members via communication and knowledge sharing. The proposed system utilizes data…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
Transient wave forms in neural networks with diffusive and nonlocal coupling have attracted particular interest because they may mediate recruitment of healthy cortical tissue into a pathological state during migraine. To investigate this…