Related papers: Communication-Free Multi-Agent Control under Local…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
Autonomous agents acting in realistic Multi-Agent Systems (MAS) should be able to adapt during their execution. Standard strategic logics, such as Alternating-time Temporal Logic (ATL), model agents' state- or history-dependent behaviour.…
This paper investigates the controller synthesis problem for a multi-agent system (MAS) with intermittent communication. We adopt a relay-explorer scheme, where a mobile relay agent with absolute position sensors switches among a set of…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
Context. The problem of comparative evaluation of communication protocols for task orchestration by large language model (LLM) agents is considered. The object of study is the process of interaction between LLM agents and external tools, as…
This paper presents a new approach to design verified compositions of Neural Network (NN) controllers for autonomous systems with tasks captured by Linear Temporal Logic (LTL) formulas. Particularly, the LTL formula requires the system to…
Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-encoded tasks, several methods have been proposed for…
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decision variables are only directly coupled to few other agent's…
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
This paper considers a strongly connected network of agents, each capable of partially observing and controlling a discrete-time linear time-invariant (LTI) system that is jointly observable and controllable. Additionally, agents…
This paper presents an approach for accelerated learning of optimal plans for a given task represented using Linear Temporal Logic (LTL) in multi-agent systems. Given a set of options (temporally abstract actions) available to each agent,…
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…
Reinforcement Learning (RL) has emerged as an efficient method of choice for solving complex sequential decision making problems in automatic control, computer science, economics, and biology. In this paper we present a model-free RL…
Manufacturing industries are facing increasing product variability due to the growing demand for personalized products. Under these conditions, ensuring safety becomes challenging as frequent reconfigurations can lead to unintended…
We study instruction following in multi-task reinforcement learning, where an agent must zero-shot execute novel tasks not seen during training. In this setting, linear temporal logic (LTL) has recently been adopted as a powerful framework…
Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…
In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
To integrate high amounts of renewable energy resources, electrical power grids must be able to cope with high amplitude, fast timescale variations in power generation. Frequency regulation through demand response has the potential to…