Related papers: Decentralized Abstractions for Feedback Interconne…
In this paper, the communication effort required in a multi-agent system (MAS) is minimized via an explicit optimization formulation. The paper considers a MAS of single-integrator agents with bounded inputs and a time-invariant…
In this paper, we propose a network-optimization framework for the analysis of multi-agent systems with passive-short agents. We consider the known connection between diffusively-coupled maximally equilibrium-independent passive systems,…
We present two frameworks for structure-preserving model order reduction of interconnected subsystems, improving tractability of the reduction methods while ensuring stability and accuracy bounds of the reduced interconnected model. Instead…
This paper addresses the full-state prescribed performance-based consensus problem for double-integrator multi-agent systems with jointly connected topologies. To improve the transient performance, a distributed prescribed performance…
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual…
Distributed aggregative optimization is a recently emerged framework in which the agents of a network want to minimize the sum of local objective functions, each one depending on the agent decision variable (e.g., the local position of a…
Communication is essential for coordination among humans and animals. Therefore, with the introduction of intelligent agents into the world, agent-to-agent and agent-to-human communication becomes necessary. In this paper, we first study…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
Abstractions of dynamical systems enable their verification and the design of feedback controllers using simpler, usually discrete, models. In this paper, we propose a data-driven abstraction mechanism based on a novel metric between Markov…
This work develops a proximal primal-dual decentralized strategy for multi-agent optimization problems that involve multiple coupled affine constraints, where each constraint may involve only a subset of the agents. The constraints are…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, approximate optimal controllers for distributed multi-agent…
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 the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
Making decisions in complex environments is a key challenge in artificial intelligence (AI). Situations involving multiple decision makers are particularly complex, leading to computational intractability of principled solution methods. A…
Decentralized multi-agent systems have shown promise in enabling autonomous collaboration among LLM-based agents. While AgentNet demonstrated the feasibility of fully decentralized coordination through dynamic DAG topologies, several…
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or…
We construct compositional continuous approximations for an interconnection of infinitely many discrete-time switched systems. An approximation (known as abstraction) is itself a continuous-space system, which can be used as a replacement…
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…