Related papers: Patterned Dynamics of Delay-Coupled Swarms with Ra…
Multi-swarm systems, where two or more swarms of mobile agents occupy the same region of space with different parameters and goals, occur in a variety of biological, engineering, and defense applications. Composites of multiple swarms can…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
LLM-based multi-agent systems (LLM-MAS), in which autonomous AI agents cooperate to solve tasks, are gaining increasing attention. For such systems to be deployed in society, agents must be able to establish cooperation and coordination…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…
We study the effects of discrete, randomly distributed time delays on the dynamics of a coupled system of self-propelling particles. Bifurcation analysis on a mean field approximation of the system reveals that the system possesses patterns…
The design of distributed autonomous systems often omits consideration of the underlying network dynamics. Recent works in multi-agent systems and swarm robotics alike have highlighted the impact that the interactions between agents have on…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
We investigate consensus formation and flocking behavior in multi-agent systems subject to two distinct types of delays: a transmission delay accounting for information exchange between agents, and a reaction delay representing the…
We provide a distributed online algorithm for multi-agent submodular maximization under communication delays. We are motivated by the future distributed information-gathering tasks in unknown and dynamic environments, where utility…
We analyze convergence of decentralized cooperative online estimation algorithms by a network of multiple nodes via information exchanging in an uncertain environment. Each node has a linear observation of an unknown parameter with randomly…
We study the effect of communication delays on distributed consensus algorithms. Two ways to model delays on a network are presented. The first model assumes that each link delivers messages with a fixed (constant) amount of delay, and the…
Epidemics seldom occur as isolated phenomena. Typically, two or more viral agents spread within the same host population and may interact dynamically with each other. We present a general model where two viral agents interact via an…
This paper deals with adaptive synchronization of chaos in the presence of time-varying communication-delays. We consider two bidirectionally coupled systems that seek to synchronize through a signal that each system sends to the other one…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
Individuals interact and cooperate in structured systems. Many studies represent this structure using static networks, where each link represents a permanent connection between two nodes. However, real interactions are generally not…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…