Related papers: Control of Multiagent Formations
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
This paper presents the formulation and analysis of a two time-scale optimization algorithm for multi-agent coordination for the purpose of distributed beamforming. Each agent is assumed to be randomly positioned with respect to each other…
In this paper, a distributed multi-agent formation control driven by the gradient of the Lennard-Jones potential is analyzed. For collision-free initial data, we prove global well-posedness together with a uniform lower bound on all…
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 studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…
Many complex systems can be modeled as multiagent systems in which the constituent entities (agents) interact with each other. The global dynamics of such a system is determined by the nature of the local interactions among the agents.…
Distributed energy systems with prosumers require new methods for coordinating energy exchange among agents. Coalitional control provides a framework in which agents form groups to cooperatively reduce costs; however, existing bottom-up…
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among…
This paper introduces Multi-Agent MDP Homomorphic Networks, a class of networks that allows distributed execution using only local information, yet is able to share experience between global symmetries in the joint state-action space of…
To investigate the role of information flow in group formation, we introduce a model of communication and social navigation. We let agents gather information in an idealized network society, and demonstrate that heterogeneous groups can…
This paper studies the multi-agent coverage control (MAC) problem where agents must dynamically learn an unknown density function while performing coverage tasks. Unlike many current theoretical frameworks that concentrate solely on the…
In the paper, the model of the society represented by a social network and the model of a multi-agent system built on the basis of this, is presented. The particular aim of the system is to predict the evolution of a society and an analysis…
This paper considers the optimal distributed control problem for a linear stochastic multi-agent system (MAS). Due to the distributed nature of MAS network, the information available to an individual agent is limited to its vicinity. From…
We study the fundamental problem of distributed network formation among mobile agents of limited computational power that aim to achieve energy balance by wirelessly transmitting and receiving energy in a peer-to-peer manner. Specifically,…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
Interactive behavior modeling of multiple agents is an essential challenge in simulation, especially in scenarios when agents need to avoid collisions and cooperate at the same time. Humans can interact with others without explicit…