Related papers: Decentralized Abstractions For Multi-Agent Systems…
In multiagent dynamical systems, privacy protection corresponds to avoid disclosing the initial states of the agents while accomplishing a distributed task. The system-theoretic framework described in this paper for this scope, denoted…
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…
This paper constructs a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous…
In this paper, we introduce a compositional method for the construction of finite abstractions of interconnected discrete-time switched systems. Particularly, we use a notion of so-called alternating simulation function as a relation…
The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years. In this paper, we study the consensus control of multi-agent system associated with a given cost…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
Achieving consensus among noncooperative agents remains challenging in decentralized multi-agent systems, where agents often have conflicting preferences. Existing coordination methods enable agents to reach consensus without a centralized…
Multi-agent human-robot co-manipulation is a poorly understood process with many inputs that potentially affect agent behavior. This paper explores one such input known as interaction force. Interaction force is potentially a primary…
Multiagent systems aim to accomplish highly complex learning tasks through decentralised consensus seeking dynamics and their use has garnered a great deal of attention in the signal processing and computational intelligence societies. This…
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…
Vehicular traffic is a classical example of a multi-agent system in which autonomous drivers operate in a shared environment. The article provides an overview of the state-of-the-art in microscopic traffic modeling and the implications for…
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…
The Contract Net Protocol (1980) introduced coordination through contracts in multi-agent systems. Modern agent protocols standardize connectivity and interoperability; yet, none provide formal, resource governance-normative mechanisms to…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
Translating continuous control system models into finite automata allows us to use powerful discrete tools to synthesize controllers for complex specifications. The abstraction construction step is unfortunately hamstrung by high runtime…
This paper investigates distributed zeroth-order feedback optimization in multi-agent systems with coupled constraints, where each agent operates its local action vector and observes only zeroth-order information to minimize a global cost…
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…
We present a novel mathematical framework for the specification and analysis of fault-resilient distributed protocols and their implementations, with the following components: 1. Transition systems that allow the specification and analysis…
In this work, we derive conditions under which abstractions of networks of stochastic hybrid systems can be constructed compositionally. Proposed conditions leverage the interconnection topology, switching randomly between P different…
We introduce and analyze a model for decentral- ized control. The model is broad enough to include problems such as formation control, decentralization of the power grid and flocking. The objective of this paper is twofold. First, we show…