Related papers: Decentralized Abstractions For Multi-Agent Systems…
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…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…
Abstraction-based control design is a promising approach for ensuring safety-critical control of complex cyber-physical systems. A key aspect of this methodology is the relation between the original and abstract systems, which ensures that…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
The abstraction of dynamical systems is a powerful tool that enables the design of feedback controllers using a correct-by-design framework. We investigate a novel scheme to obtain data-driven abstractions of discrete-time stochastic…
The aim of this work is to introduce an efficient procedure for discrete multi-agent planning under local complex temporal logic behavior specifications. While the first part of an agent's behavior specification constraints the agent's…
We propose a model enabling decentralized multiple agents to share their perception of environment in a fair and adaptive way. In our model, both the current message and historical observation are taken into account, and they are handled in…
We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…
Many multi-agent systems in practice are decentralized and have dynamically varying dependencies. There has been a lack of attempts in the literature to analyze these systems theoretically. In this paper, we propose and theoretically…
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of…
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…
The objective of this chapter is to propose some retrospective analysis of the evolution of programming abstractions, from {\em procedures}, {\em objects}, {\em actors}, {\em components}, {\em services}, up to {\em agents}, %have some…
At the intersection of dynamical systems, control theory, and formal methods lies the construction of symbolic abstractions: these typically represent simpler, finite-state models whose behavior mimics that of an underlying concrete system…
This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
We study distributed optimization in a cooperative multi-agent setting, where agents have to agree on the usage of shared resources and can communicate via a time-varying network to this purpose. Each agent has its own decision variables…
We propose a multi-agent system that enables groups of agents to collaborate and work autonomously to execute tasks. Groups can work in a decentralized manner and can adapt to dynamic changes in the environment. Groups of agents solve…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…