Related papers: Communication-Free Multi-Agent Control under Local…
The distributed temporal logic DTL is a logic for reasoning about temporal properties of distributed systems from the local point of view of the system's agents, which are assumed to execute sequentially and to interact by means of…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
We present a framework for verifying Memoryful Neural Multi-Agent Systems (MN-MAS) against full Linear Temporal Logic (LTL) specifications. In MN-MAS, agents interact with a non-deterministic, partially observable environment. Examples of…
As multi-agent reinforcement learning (MARL) systems are increasingly deployed throughout society, it is imperative yet challenging for users to understand the emergent behaviors of MARL agents in complex environments. This work presents an…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
In this paper, we consider teams of robots with heterogeneous skills (e.g., sensing and manipulation) tasked with collaborative missions described by Linear Temporal Logic (LTL) formulas. These LTL-encoded tasks require robots to apply…
Multi-agent systems driven by large language models (LLMs) have shown promising abilities for solving complex tasks in a collaborative manner. This work considers a fundamental problem in multi-agent collaboration: consensus seeking. When…
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…
This paper considers how heterogeneous multi-agent teams can leverage their different capabilities to mutually improve individual agent performance. We present Capability-Augmenting Tasks (CATs), which encode how agents can augment their…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…
We consider the setting of agents cooperatively minimizing the sum of local objectives plus a regularizer on a graph. This paper proposes a primal-dual method in consideration of three distinctive attributes of real-life multi-agent…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
As next generation cellular networks become denser, associating users with the optimal base stations at each time while ensuring no base station is overloaded becomes critical for achieving stable and high network performance. We propose…
In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…
This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…