Related papers: Control of Networked Multiagent Systems with Uncer…
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…
This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly…
Turing's model has been widely used to explain how simple, uniform structures can give rise to complex, patterned structures during the development of organisms. However, it is very hard to establish rigorous theoretical results for the…
Topology identification and inference of processes evolving over graphs arise in timely applications involving brain, transportation, financial, power, as well as social and information networks. This chapter provides an overview of graph…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our…
In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…
Large language models (LLMs) and agent-based frameworks have advanced rapidly, enabling diverse applications. Yet, with the proliferation of models and agentic strategies, practitioners face substantial uncertainty in selecting the best…
Being cognizant of the abundance of multi-body interactions in various complex systems, here we investigate a possible way to incorporate multi-body interactions in dynamical networks. Adopting hypergraph as the underlying architecture aids…
We study a simple but compelling model of $n$ interacting agents via time-dependent, unidirectional communication. The model finds wide application in a variety of fields including synchronization, swarming and distributed decision making.…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…
We study nonconvex distributed optimization in multiagent networks where the communications between nodes is modeled as a time-varying sequence of arbitrary digraphs. We introduce a novel broadcast-based distributed algorithmic framework…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
The paper addresses the problem of consensus seeking among second-order linear agents interconnected in a specific ring topology. Unlike the existing results in the field dealing with one-directional digraphs arising in various cyclic…
We consider multi-agent systems with cooperative interactions and study the convergence to consensus in the case of time-dependent connections, with possible communication failure. We prove a new condition ensuring consensus: we define a…
This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type…
We study distributed computation in synchronous dynamic networks where an omniscient adversary controls the unidirectional communication links. Its behavior is modeled as a sequence of directed graphs representing the active (i.e. timely)…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
Many real-world networks such as social networks consist of strategic agents. The topology of these networks often plays a crucial role in determining the ease and speed with which certain information driven tasks can be accomplished.…
We consider the optimal multi-agent persistent monitoring problem defined by a team of cooperating agents visiting a set of nodes (targets) on a graph with the objective of minimizing a measure of overall node state uncertainty. The…