Related papers: Robust Connectivity Analysis for Multi-Agent Syste…
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…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. This paper studies non-fragility of…
Autonomous multi-agent systems are increasingly being deployed in environments where winds and ocean currents have a significant influence. Recent work has developed control policies for single agents that leverage flows to achieve their…
Reinforcement learning in multi-agent scenarios is important for real-world applications but presents challenges beyond those seen in single-agent settings. We present an actor-critic algorithm that trains decentralized policies in…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
We consider cooperative multi-agent consensus optimization problems over both static and time-varying communication networks, where only local communications are allowed. The objective is to minimize the sum of agent-specific possibly…
The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
A stable joint plan should guarantee the achievement of a designer's goal in a multi-agent environment, while ensuring that deviations from the prescribed plan would be detected. We present a computational framework where stable joint plans…
Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…
The growing integration of distributed energy resources drives the centralized power system towards a decentralized multi-agent network. Operating multi-agent networks significantly relies on inter-agent communications. Computation…
As multi-agent systems (MAS) become increasingly prevalent in autonomous systems, distributed control, and edge intelligence, efficient communication under resource constraints has emerged as a critical challenge. Traditional communication…
To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
Gradual advancement of control technology gives rise to the studies of the stability of linear systems. The stability of the linear multiagent system is motivated by increasing utilization of agent dynamics together with the number of…
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the…