Related papers: Decentralized Abstractions for Feedback Interconne…
The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only…
In this report, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of decentralization. The methodology is based on the analysis…
In this report, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted through a finite state transition system in order to…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing…
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…
In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this…
Finite-state abstractions (a.k.a. symbolic models) present a promising avenue for the formal verification and synthesis of controllers in continuous-space control systems. These abstractions provide simplified models that capture the…
In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
Over the recent twenty years, argumentation has received considerable attention in the fields of knowledge representation, reasoning, and multi-agent systems. However, argumentation in dynamic multi-agent systems encounters the problem of…
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…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
This paper addresses the considerations that comes along with adopting decentralized communication for multi-agent localization applications in discrete state spaces. In this framework, we extend the original formulation of the Bayes…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
This paper develops a control-theoretic framework for analyzing agentic systems embedded within feedback control loops, where an AI agent may adapt controller parameters, select among control strategies, invoke external tools, reconfigure…
In this article, we propose a centralized Multi-Agent Learning framework for learning a policy that models the simultaneous behavior of multiple agents that need to coordinate to solve a certain task. Centralized approaches often suffer…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
In open-ended domains, teams must reconcile diverse viewpoints to produce strong deliverables. Answer aggregation approaches commonly used in closed domains are ill-suited to this setting, as they tend to suppress minority perspectives…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…